Geometric bounding techniques for underwater navigation

This paper describes the application of geometric bounding techniques to navigation of an underwater vehicle. A technique is described for obtaining a fix of submersible position based on measurements of range from a supporting ship and the propagation of dead-reckoning errors. Also described is the estimation of bounds on a constant drift rate and the use of these bounds in the determination of velocity sensor misalignment angle. An assessment is made of the accuracy to which navigational parameters can be estimated using these method