[PSUBS-MAILIST] More on inertial guidancce

[Phil Nuytten <72020.572@compuserve.com>]

Hi, John:
        Nope, we link a standard DGPS into the suface module of a tracking
system and communicate the GPS coordinates to the DeepWorkers  on a
real-time basis using the subs tracker/navigation system in the navigation
mode. Essentially. the tracker takes a slant range and bearing on the sub
beacon and then knows where the sub is, relative to the ship ( the sub is
on X heading, X distance away, with a slant-range - deflection angle - of
X). Since the ship knows where it is .  the CPu in the surface unit has a
simple program to work out what the subs GPS coordinates must be, and
convey that acoustically to the sub. Conversely, you can have the sub's
on-board computer ( we use two - a modified note-book PC, and an OMRON
industrial control computer) do the sums at the sub. 
Phil Nuytten