Vertical velocity ambiguity resolution method

摘要

The present invention relates to a method of resolving an ambiguity in the estimation of vertical velocity of a moving underwater or surface vehicle. Three acoustic pulses are successively transmitted. They are received by a series of detectors located on the vehicle. The time difference between correlated first and second received pulses is measured. The time different between correlated first and third received pulses is also measured. The phase shifts between the three transmitted pulses and three received pulses is measured. This information is used to determine the vertical velocity of the vehicle.