A NAVIGATION PROCESSOR, A SYSTEM COMPRISING SUCH A NAVIGATION PROCESSOR AND A METHOD OF CONTROLLING AN UNDERWATER SYSTEM BY SUCH A NAVIGATION PROCESSOR

摘要

A method of measuring attitudes and position of an underwater system by a navigation processor on board a vessel, as well as such a navigation processor. The method includes i. receiving a position of the vessel based on data from a DGPS surface position equipment on board said vessel, ii. receiving data from a fiber optic gyrocompass on board said underwater system, the gyrocompass including heave, roll and pitch sensors, iii. receiving depth data of the underwater system, iv. receiving velocity data of the underwater system, v. receiving range and bearing data of the underwater system, in order to calculate attitudes and absolute coordinates of the underwater system in a first coordinate system that is a common coordinate system.