A low-cost acoustic positioning system for small manned submarines

A low cost range-range acoustic positioning system using modified "off-the-shelf" components was developed for use with small manned submarines. Range information is displayed for the submarine pilot and relayed to a microcomputer aboard the surface support vessel. Software developed for the surface-vessel positioning also plots, displays, and records the submarine position. This system was successfully used to navigate the submarine "Porpoise" during search operations off the Rhode Island coast.