Abstract: An autonomous mine detection and neutralization system including a motorized underwater vehicle having a guidance control component, and a vehicle positioning system attached to the vehicle via a communications cable. The system also includes a buoyant surface unit comprising a protective housing surrounding an interior chamber, a positive buoyancy buoy attached to the housing, an antenna system attached to the housing, and a radio transmitter and receiver system positioned within the chamber, which radio transmitter and receiver system is electrically attached to the vehicle positioning system and the antenna system. The mine detection system is launched into a body of water from an air craft or surface vessel. The vehicle then proceeds to an underwater target on its own, relaying navigation data and imagery through a communications cable to a surface unit which relays the information over a radio frequency link to a remote user.

Abstract: A towed body yaw angle sensor arrangement used to sense the angle between the axis of a tow fish and the flow of water. The water flow vector is used as the reference for correcting towed body yaw so that a magnetic compass in the towed body is aligned with the towed arrays streaming in the water flow. A yaw angle in the towed body with respect to the flow will cause errors for target bearing and skew the arrays relative to each other which will also cause errors. The flow sensor must be in the free flow off the towed body and ideally the sensing part is aligned with water current flow. Also provided is a method for sensing and correcting a yaw angle.