Acoustic positioning systems. A practical overview of current systems

There are existing commercial sources that provide acoustic positioning systems with some capability to navigate unmanned underwater vehicles (UUVs). Some of these systems can be applied to autonomous underwater vehicles (AUVs). Systems are currently available to provide full ocean depth positioning to an absolute accuracy of 5 m and a relative accuracy of <2 m. Also available from these and other sources are shorter range, higher resolution acoustic positioning systems. The paper discusses how these systems are configured and what capabilities they have. A definition of conventional systems and frequency bands is included. In addition to system types, some of the more common problems associated with acoustic positioning systems and some solutions to these problems are outlined. The paper concludes that although some systems, or components readily exist for the AUV community, additional development is required