Localization of a submerged tow vehicle (lost)

This system accurately tracks the position of an underwater vehicle being towed by a surface vessel or aircraft. It calculates the vehicle's location by combining detailed seafloor maps, current ocean depth, the towed vehicle's speed over the seabed, its distance to a known point, and the towing vessel's own position and course. The claims specifically describe a system that includes the towing mechanism and means for collecting bathymetry data and measuring the towing vessel's movement.