METHOD OF POSITIONING BY HYDROACOUSTIC NAVIGATION SYSTEM Russian patent published in 2011 - IPC G01S15/06 

FIELD: physics.

SUBSTANCE: in compliance with proposed method, reference points that make navigation base are located in definite way, reference point hydroacoustic antenna and submerged object are arranged in definite way, and sum of quadratic errors in defining distance from submerged object to underwater reference points is optimised by defining minimum of measurement error squares. Note here that submerged object location in plane is determined by using three obtained distances from object to reference points while for positioning by measured compass bearings determined is class of configurations formed by observation points of submerged object with underwater reference points, said class being used to determine error magnitude in positioning submerged object.

EFFECT: higher reliability.

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