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AUVs can navigate inside a net of acoustic beacons; this is know as Long Base Line (LBL) navigation. When a surface reference such as a support ship is available, ultra-short baseline (USBL) positioning is used to calculate the ___location of the subsea vehicle relative to the known ([[GPS]]) position of the surface craft by means of acoustic range and bearing measurements. When it is operating completely autonomously, the AUV itself will surface and take its own GPS fix. In between position fixes and for precise maneuvering, an [[inertial navigation system]] onboard the AUV measures the acceleration of the vehicle and Doppler velocity technology is used to measure rate of travel. A pressure sensor measures the vertical position. These observations are [[Kalman filter|filtered]] to determine a final navigation solution.
==See also==
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