Patent ID: 7333394

Claim:
A method of underwater navigation, said method comprising: determining, at a first underwater device, a direction to a target relative to a first angular reference known to the first underwater device; establishing a reference line between the first and a second underwater device, said reference line forming the base of a reference triangle whose vertices correspond respectively to the first underwater device, the second underwater device and the target; computing, at the first underwater device, a first included angle of said reference triangle between the reference line and a line extending from the first underwater device to the target based on the direction to the target from the first underwater device; determining, at the first underwater device, a first distance between the first underwater device and the target; determining at the first underwater device, a second distance between the first and second underwater device; computing, at the first underwater device, a third distance from the second underwater device to the target based on the first included angle and the first and second distances; and transmitting the third distance to the second underwater device to assist the second underwater device in locating the target.