HYDROACOUSTIC SYNCHRONOUS LONG-RANGE NAVIGATION SYSTEM Russian patent published in 2007 - IPC G01S15/08 

FIELD: navigational support of underwater vehicles.

SUBSTANCE: the claimed system has a bottom navigational base of M hydro-acoustic transponders, and a hydro-acoustic transmitter, sync generator, first M-channel receiver, M meters of acoustic signal propagation to the transponder and back, M×N units of transformation of time intervals to distances according to the number of N ray trajectories, combination acoustic receiver based on a three-component oscillation speed receiver and a sound pressure pickup with a combined phase center, second M-channel receiver, whose each channel is made of four subchannels, M distance and slip angle computers, invariant speed set unit, M ray selective units, N units of transformation of time intervals to distances, computer of navigation object coordinates according to the criterion of the error minimum, unit of determination of mutual bearings, M units of distance corrections connected in a definite way, all these components are positioned on the navigation object.

EFFECT: reduced error at determination of the navigation object coordinates.

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