| 摘要 |
In a method for determining absolute position under water of a submersible vessel ( 1 ) having a dead recloning navigation system and receiving acoustic signals from a reference station ( 19 ), signals are received from one reference station in several positions ( 15 - 18 ) of the vessel. Estimated absolute positions of the vessel are calculated using range data and relative position data. Range rate data derived from the signals are preferably utilised. In a method for scanning an underwater survey area, the absolute position of a vessel ( 1 ) is intermittently being determined according to said method. The reference station may be placed at a fixed absolute position ( 19 ), or on the surface of the water, preferably in a buoy or a vessel. A system for determining the absolute position under water of vessel comprises: acoustic communication means in a reference station and on board the vessel; a dead reckoning navigation system on board the vessel; and computing means.
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