| 摘要 |
The invention relates to a navigation processor (202) interfaced to an acoustic processor (224) and to a DGPS surface positioning equipment on board a vessel (20). The navigation processor (202) being arranged to receive
i. position data from said DGPS surface position equipment,
ii. data from a fiber optic gyrocompass on board an underwater system (50), the gyrocompass (256) including heave, roll and pitch sensors,
iii. depth data of the underwater system (50),
iv. velocity data of the underwater system (50) based on data from a Doppler log unit (266) on board the underwater system (50);
v. range and bearing data of the underwater system (50) from said acoustic processor (224). In order to calculate attitudes and absolute coordinates of the underwater system (50) in a first coordinate system that is a common coordinate system.
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