Title: Navigation system for maneuvering a structure about a submerged object

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Abstract: The navigation system permits remote maneuvering of a water-borne structure about a stationary object by utilizing dual sonar ranging. The structure can be self-propelled or towed by a surface craft. The transducer portion of the navigation system is mounted on the structure and the system's remaining portion is on the deck of the surface craft. For complete remote navigation, at least three but preferably four transducers are employed for positioning at the four corners of a rectangle. Each transducer is both sound-emitting and sound-receiving. The sonic impulses from each pair of port and starboard transducers are directed downwardly and inwardly. The travel time for each reflected sonic impulse is directly proportional to the slant range between the transducer and the object. The spacing between each pair of port and starboard transducers and the frequency of the emitted sound impulses are selected so that very accurate measurements are obtainable of the position of the object relative to the transducers. If the object is a pipe it is desirably maintained on a visual display in a longitudinal plane of symmetry for the two pairs of transducers. Any appreciable lateral deviation from the desired position is immediately detected and corrective action can be taken by the surface craft to reposition the structure.


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