Abstract: An array of three-axis magnetometers used for dynamic magnetic anomaly compensation are located at the corners of a parallelopiped, with pairs of magnetometer outputs used to derive a magnetic anomaly gradient vector used to compensate a compass and/or the output of a gyroscope in an inertial management unit. The system may be used in a neutrally buoyant remotely operated vehicle to permit ascertaining of course and position in the absence of surface control signals.

Abstract: An ultrasonic surveying method includes a network of transceivers adjacent the item to be surveyed to establish a reference plane and locating an array of pingers on the object to be surveyed to establish a survey plane, establishing by ranging from the pingers to the network the location of the survey plane, detecting relative motion between the network and the pingers and correcting survey measurements for the detected motion.

Abstract: A system is provided for calibrating an acoustic hull integrity sensing system by providing a coupon attached to the interior surface of the hull, in which the coupon has a stepped calibration block, with one of the steps approximating the thickness of the hull to be measured at the position of the coupon. The stepped calibration block is made of a material with the same acoustic properties as that of the hull. Acoustic energy is propagated towards the hull and passes through the hull, the interface between the hull and the block and to the interface between the stepped surface and the surrounding material, with reflected acoustic energy having a time of arrival at a sensor measured through the use of zero crossing detectors, in which the thickness of the stepped block that most closely approximates that of the hull is multiplied by a ratio that is the time for energy to propagate through the hull, divided by the time for the energy to propagate through the stepped block.