Using Range and Range Rate for Relative Navigation

摘要

This report documents an investigation into the use of range and range rate as an approach for navigating an underwater vessel relative to another vessel for formation maneuvering tasks. Range and range rate between underwater vehicles can be estimated using elapsed time and Doppler shift measurements done by modern acoustic modems. This approach has the potential to allow coordinated team maneuvering using existing vehicle communications without the need for offboard positioning systems, surfacing for GPS fixes, and communicating individual vessel positions periodically throughout the team. The relationship between range rate and Doppler shift is derived and field results from a submarine tracking range are presented to support the hypothesis that this can be an effective measure of relative motion. Equations for range, range rate, and range acceleration are derived and these equations are examined numerically and graphically to determine characteristics that might be useful for relative navigation. The report ends with a summary of potential approaches revealed for using range and range rate measurements for relative navigation.