An underwater positioning system comprises a plurality of underwater beacons. A beacon, in response to a signal sent by an underwater vehicle, responds with a signal comprising one or more characteristics to identify the beacon. Components of an access algorithm are provided to the underwater vehicle. The access algorithm determines a location of the beacon based on the beacon's identity. A position of the vehicle is determined based at least in part on the location of the beacon.

Embodiments of the present invention provide a navigation system which, on the one hand, is arranged on sides of the underwater vehicle/AUV and, on the other hand, includes a surface transmitter as a counterpart. The two units communicate with each other such that the surface transmitter emits its signal directed to the position of the underwater vehicle and/or that the surface transmitter follows the underwater vehicle to improve the position determination capability.

A method and system for controlling a marine vessel is configured to operate a lanyard system to detect at least one fob worn by an individual present on the marine vessel and determine that a missing fob of the at least one fob is no longer detected, wherein the missing fob is either an operator fob or a passenger fob. A man overboard event is generated based on the missing fob, wherein the man overboard event is an operator overboard event if the missing fob includes the operator fob or a passenger overboard event if the missing fob is the passenger fob. One or more search assistance functions are automatically activated based on the man overboard event, wherein the search assistance functions activated depend on whether the man overboard event is the operator overboard event or the passenger overboard event.

Embodiments of the present invention provide a navigation system which, on the one hand, is arranged on sides of the underwater vehicle/AUV and, on the other hand, includes a surface transmitter as a counterpart. The two units communicate with each other such that the surface transmitter emits its signal directed to the position of the underwater vehicle and/or that the surface transmitter follows the underwater vehicle to improve the position determination capability.

An underwater docking system for an autonomous underwater vehicle, the underwater docking system including: an underwater station including a base mount fixed to a seabed and a circular frame member supported by the base mount and parallel to a horizontal plane; and an autonomous underwater vehicle configured to dock with the underwater station while sailing through an upper side of the frame member, wherein: the autonomous underwater vehicle includes an underwater vehicle main body.

The ultrasonic homing assembly includes a base unit that may be coupled to a boat anchor. A base processor is coupled to the base unit. A transmitter is coupled to the base unit. The transmitter is operationally coupled to the processor. The transmitter transmits a location signal. A remote unit may be worn by a diver. A remote processor is coupled to the remote unit. A receiver is coupled to the remote unit. The receiver is operationally coupled to the remote processor. The receiver receives the location signal from the transmitter. A display is coupled to the remote unit. The display is operationally coupled to the processor. The display directs the diver toward the base unit. The diver swims toward the boat anchor.

An underwater docking system for an autonomous underwater vehicle, the underwater docking system including: an underwater station including a base mount fixed to a seabed and a circular frame member supported by the base mount and parallel to a horizontal plane; and an autonomous underwater vehicle configured to dock with the underwater station while sailing through an upper side of the frame member, wherein: the autonomous underwater vehicle includes an underwater vehicle main body.

A method of validating ADS-B is described herein. The method includes receiving, from time synchronized vehicles, ADS-B data (identifier, horizontal position information, and altitude information for a first vehicle) with a timestamp (defining a time of reception of the ADS-B message). The method includes receiving, from each vehicle, a determined position at the time of reception of the ADS-B message. The method includes determining differences in time of arrival for the ADS-B message to each vehicle, extracting altitude information from the ADS-B data, and determining an estimated horizontal position of the first vehicle based on the differences in time of arrival, the determined positions received from each vehicle, and the extracted altitude information. The method includes determining whether the horizontal position information in the ADS-B message is valid based on a comparison of the estimated horizontal position of the first vehicle and the horizontal position information in the ADS-B message.

Embodiments of the present invention provide a navigation system which, on the one hand, is arranged on sides of the underwater vehicle/AUV and, on the other hand, includes a surface transmitter as a counterpart. The two units communicate with each other such that the surface transmitter emits its signal directed to the position of the underwater vehicle and/or that the surface transmitter follows the underwater vehicle to improve the position determination capability.