how to correct the navigation error created by the flowing water?

Determining a vehicle position is an essential part of every object tracking and navigation system. thetracking system can be more successful, which provides a more accurate location at any moment. to achievethis purpose, firstly, the complete control of the system has to be prepared. in this way, it is very important toknow the errors caused by natural factors that cause negative effects on the system navigation. in this paper,we will discuss how to compensate for the error caused by flowing water in underwater vehicles.