Autonomous precision navigation

A method, alternate to conventional methods based on global positioning system (GPS), inertial measurements unit (IMU), pressure instruments, for determining navigation aid sensor data, navigation aid data and fluid movement data for a vehicle adapted to move in a fluid medium and for overcoming shortcomings inherent to the said conventional methods comprising:

• measurement of data dictated by arrangement of sensors in a sensor sub system placed on board the vehicle;
• measurement of navigation aid sensor data, navigation-aid data, and fluid movement data required for self contained end to end navigation of the vehicle by an element also placed on board the vehicle and configured to compute said navigation aid sensor data, navigation-aid data and fluid movement data using data obtained from the sensor sub system;
• wherein the sensor sub system includes:
• i. sensors formed by pairing a transmitter and receivers and comprise of:
• a transmitter configured to transmit pulses wherein the pulses do not carry any electronic information and are of pre-determined duration;
• and
• three sets of receivers comprising:
• a first set of receivers comprising three receivers of which each positioned at right angles to one another and each on a straight line originating from the transmitter and the straight line is parallel to one of the body fixed principal axes of the vehicle wherein each receiver is placed at a distance of few centimeters from the transmitter and each capable of receiving the pulses transmitted by the transmitter;
• a second set of receivers comprising two receivers of which each positioned at right angles to one another and each on a straight line originating from the transmitter and the straight line is at an angle to one of longitudinal axis and lateral axis of the vehicle wherein each of the receivers is placed at a distance of few centimeters from the transmitter and each capable of receiving the pulses transmitted by the transmitter;
• and
• a third set of receiver comprising two receivers of which each positioned at right angles to one another and each on a straight line originating from the transmitter and the straight line is parallel to one of longitudinal axis and vertical axis of the vehicle wherein each of the receivers is placed at a distance of few centimeters from the transmitter and each capable of receiving the pulses transmitted by the transmitter;
• ii. a first element electronically connected to the transmitter and to each receiver of the three sets of receivers, and configured to measure propagation time of the pulses for direct and not reflected propagation from the transmitter to each of the receivers of the three sets of receivers;
• iii. a second element communicatively coupled to the first element and configured to measure change in propagation time affected by movement of the vehicle and further configured to convert the said change in propagation time into spatial velocity of the vehicle along the directions of each of the receivers of all the three sets of receivers using data of the first element.