Precise Positioning of Underwater Static Objects without Sound Speed Profile

A new method of positioning underwater static objects is presented based on Global Positioning System (GPS) acoustics. It adopts a model in which the ranging errors follow a quadratic relation with the travel time of acoustic signals. A least squares technique is used to estimate the effective sound speed. The precise location of an object can then be made. The simulation shows that the method is capable of determining the three-dimensional position with an accuracy of 5 cm in a water depth of 500 m. The operating time is respectively 5–10 minutes in 50–100 m depth and 20–30 minutes in 500 m depth.

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