Underwater Acoustic Positioning Systems

accuracy acoustic addition ANGLE Appendix array baseline beacon CALC calculated calibration carried CHANGES CLEAR CO-ORD co-ordinates CO-ORDINATES T,X,Y,Z COMPLETED COMPUTER PROGRAM CORRECT degs DELETE depth designed determine developed discussed DISP ENTER DISP USING D DISP USING F display distance diver diving DR.P.H.MILNE ENGINEERING Equations equipment error fitted four frequency give given heading horizontal HP-IB hydrophones INPUT inspection installation INTERFACE interrogation jacket known LINE LISTED measurements method mode Model monitor MOVE navigation observed offshore operations Photograph by courtesy pipeline plane platform PLOT position fixing precise presented PRINT PRINTER PRINTOUT PROGRAM received reference relative RESULTS SCREEN seabed selected sensors ship showing shown in Fig SIDE signal simulated SLANT RANGE solution sonar sound SSBL station structure submersible surface survey Table techniques template tracking transducer transponders underwater unit vessel WISH Y CO-ORD