Integrating precision relative positioning into JASON/MEDEA ROV operations

Advances in navigation continue to add precision and robustness to undersea operations. Two challenges limit navigation of the JASON/MEDEA two-vehicle ROV system acoustic noise form JASON's hydraulic systems and lack of a direct relative position measurement between the two vehicles. This paper describes successful integration of the SHARPS ranging system - enabling precise relative positioning that is robust with respect to acoustic noise. We discuss four aspects of the installation the capabilities of SHARPS as installed on the ROVs, the estimation theory predicted performance of the system design, the proof-of-concept navigation results from field deployments and the operational utility of the SHARPS capability. The SHARPS installation integrates an important capability into the ROV system, enhancing the data product for science while adding safety and flexibility to the at-sea operations.