Determination of the AUV Velocity with the Aid of Seabed Acoustic Sensing

An original algorithm for the measurement of the velocity of an autonomous underwater vehicle (AUV) is based on the range measurement using acoustic sensing. As distinct from conventional procedures that make it possible to determine velocity relative to water, the proposed algorithm yields absolute velocity of AUV relative to seabed. The method can be used for additional correction in data fusion with information obtained with the aid of modern velocity sensors, in particular, Doppler lag.