Abstract: A system, method, and computer readable medium having a tracked package with a source emitting signals through an underwater environment that are detected by a receiver on a tracker and thereby producing a received signal, the tracker also having a controller and a position mechanism. The controller is configured to produce a sample from the received signal, receive velocity data from the position mechanism, and determine an angle relative to the source by comparing the received signal's frequency from a known source frequency and the velocity data.

Abstract: A device, system and method of use for the relative navigation in a fluid medium, the device having a receiver and a controller, the receiver capable of receiving signals through the fluid medium. The signals, produced by a source, are capable of undergoing Doppler shift, and the controller is capable of determining the Doppler shift of the signals and determining the bearing between the device and the source of the signals. The system further having a first vehicle capable of producing the signals and a second vehicle having the device and wherein the device determines the bearing of the second vehicle in relation to the first vehicle.

Abstract: An inexpensive acoustic beacon-type system suitable for the self-localization of one or more submergable secondary vehicles such as AUVs. A single beacon in a primary system periodically transmits an acoustic signal to the secondary vehicle. The acoustic signal is passively received by at least two receivers such as an AUV-mounted ultra-short baseline (USBL) array, which enables multiple vehicles to localize using just a single beacon. A controller (i) maintains time-synchronization with the primary system, (ii) develops a range estimate signal from measurements of received signals from at least two receivers and (iii) develops an azimuth-inclination estimation of likeliest angle-of-arrival of the primary signals, wherein the controller utilizes a plurality of coordinate frames to provide an estimate of secondary system location.