This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This analysis should help with the design of small and lightweight underwater vehicles by reducing the amount of instrumentation required for accurate navigation. The concept of nonlinear observability is used to show under what conditions the exact location of the vehicle can be found with only measurements of range.
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14<sup>th</sup> <em>International Symposium on Unmanned Untethered Submersible Technology (UUST'05)</em>, 2005