POS/SV-an aided inertial navigation system for submersible vehicles

Describes a position and orientation system for submersible vehicles (POS/SV), designed to provide a full navigation solution for submersible vehicles (SV). Its intended applications are those requiring accurate and continuous position and orientation data in very deep or very shallow water where acoustic positioning systems (APS) alone become sporadic, noisy and generally unreliable. These applications include positioning for SV navigation, positioning and orientation for template survey, deep water multibeam sonar bathymetry requiring both position and orientation for sonar motion compensation and data georeferencing, site surveying and pipe and cable surveying and synthetic aperture sonar (SAS) motion compensation