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: 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.