THE MATHEMATICS OF SONAR-BEACON SURVEYING

Herbert E. Engel, David E. Lev, and Dr. Arthur Gelb

Peer Reviewed

Abstract:	A TECHNIQUE IS DESCRIBED in which bottom-moored sonar beacons are surveyed in absolute (e.g., geodetic) position coordinates. The shipboard equipment consists of a sonar transmitter/receiver and a celestially-augmented inertial navigator. Errors in the survey are shown to depend on the errors in the sonar measurements along wit the celestial observation error and inertial navigator dynamical errors. Maneuvers are described and navigator reset techniques are discussed which serve to minimize the overall survey error. The effect of repeated measurements is analyzed to indicate the role it plays in error reduction.
Published in:	NAVIGATION: Journal of the Institute of Navigation, Volume 13, Number 2
Pages:	111 - 124
Cite this article:	Engel, Herbert E., Lev, David E., Gelb, Dr. Arthur, "THE MATHEMATICS OF SONAR-BEACON SURVEYING", NAVIGATION: Journal of The Institute of Navigation, Vol. 13, No. 2, Summer 1966, pp. 111-124.
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