Precision navigation and guidance of underwater vehicles

Describes the operation of a system that will estimate either the local-relative or absolute-global position of unmanned underwater vehicles (UUVs). The system will allow both autonomous and remote controlled navigation of UUVs. The complete navigation scheme is referred to as Seastar. The system functions by combining position-fixes to update a dead reckoning inertial navigation unit. Details of the complete Seastar system are described at the level of the subsystem functional mechanisation