Integrated navigation systems for precise positioning in the deep ocean

Abstract

For navigation in deep ocean the most important navaids are self contained dead reckoning systems (DRS) such as classical DRS with log and compass or Doppler‐DRS or inertial navigation system (INS) and the external radio navaids LORAN, Omega and Navy Navigation Satellite System (NNSS). These navaids cannot satisfy the requirements for precise surveying if they are used in the conventional manner. Accuracy can be increased by integration of the DRS with the external navaids by a computer which estimates best values of position, velocity, etc. from all available data. The DRS is used as reference system and the external navaids are used for control measurements. The measurements are compared with the same quantities computed from the positions, which are indicated of the DRS. The differences between the measured and the computed values are described by error models of the integrated navaids and processed by a filter to estimate best values of the errors of the DRS and to make corresponding corrections. The principles of least square filtering are described in detail for integrated Inertial/LORAN‐C and Inertial/Omega navigation.