The Department of Defense (DOD) is seeking proposals for the topic of "Precision Sensing for AS(X) Submarine Tenders" as part of their SBIR 24.1 BAA. The objective is to develop a precision sensing system that can provide real-time relative positioning and orientation between a submarine and its tender during resupply operations in open water. The system must accurately measure the distance to the transfer destination on the submarine and the relative velocities between the two vessels in six degrees of freedom. It should be operable in Sea State 3 and 4 conditions and function in a marine environment, including adverse weather conditions. The system should also be usable for vertical lift transfers and have the potential to operate on other platforms. The project will involve a Phase I design development, Phase II prototype system development and evaluation, and Phase III full-scale testing and technology refinement. The technology can have applications in other Navy ship-to-ship transfers and offshore industries.