System and method for determining location of submerged submersible vehicle

An aspect of the present invention is drawn to method of determining a location of a submersible vehicle. The method includes obtaining first bearing information based on a location of a ship at a first time relative to the submersible vehicle and receiving broadcast information from the ship, wherein the broadcast information includes location information related to a second location of the ship at a second time, a velocity of the ship at the second time and a course of the ship at the second time. The method further includes obtaining second bearing information based on the second location of the ship at the second time relative to the submersible vehicle, obtaining a velocity of the submersible vehicle at the second time and obtaining a course of the submersible vehicle at the second time. The method still further includes determining the location of the submersible vehicle based on the first bearing information, the second location of the ship at the second time, the velocity of the ship at the second time, the course of the ship at the second time, the second bearing information, the velocity of the submersible vehicle at the second time and the course of the submersible vehicle at the second time.