A real time transponder location method

A method is presented for determining by acoustical means the relative locations of an array of acoustic transponders (or hydrophonesr beacons) located at fixed but unknown positions in the ocean. The method does not depend on accurate positioning of the survey ship. Hence, it is suitable for open ocean applications, far from shore based navigation aid systems. The technique allows data to be sequentially processed as it is collected, and the "Least Square" computing algorithm is extremely simple and easily programmable on a minicomputer. Hence, the method is considered a real time technique. A Monte Carlo computer simulation is used to determine the effects of different error sources, the accuracy of the method, and the best path for the survey ship to travel.