Patent ID: 8654610

Claim:
An underwater navigation system comprising: an above-water receiver configured to receive radio frequency (RF) signals comprising position information; a timing source configured to provide timing information; an array having a rigid structure in communication with the above-water receiver and the timing source and configured to be suspended underwater, the array comprising at least a first underwater acoustic transmitter affixed to a first support member and a second underwater acoustic transmitter affixed to a second support member, the first underwater acoustic transmitter separated from the second underwater acoustic transmitter by a first distance; at least one sensor configured to gather orientation data about the array; wherein the array receives the position information from the above-water receiver and the timing information from the timing source, and the underwater acoustic transmitters are configured to transmit the position information, the timing information, and the orientation data underwater; and at least one underwater receiver remotely located from the array by a second distance, the underwater receiver configured to receive underwater the position information, the timing information, and the orientation data from each underwater acoustic transmitter, and calculate a location of the underwater receiver based at least in part on the position information, the timing information, the orientation data, and a propagation delay to each underwater acoustic transmitter, wherein a ratio of the second distance to the first distance is greater than 10:1.