Abstract
Navigation and mapping techniques developed for surface ships are not optimum for accurate sub-surface navigation of submersible vehicles. The long-range acoustic transponder techniques which have been developed for use by towed vehicles in deep water are also not suitable for use in relatively shallow depths (200 fathoms or less). For these reasons, the Marine Physical Laboratory has undertaken a series of experiments to develop techniques using equipment compatible with that which could be installed on submersible vehicles having limited payload capability. These techniques allow the use of side-looking sonar to map a patch of sea floor (about 5 sq mi) without reliance on surface-acquired information, and with confidence that there is continuous coverage of the area. Mapping techniques can be selected to cope with the two extreme cases of a continuous distribution of targets, and an essential absence of targets.
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