An acoustic positioning method to measure position of an underwater vehicle by inverse super short baseline (ISSBL) and acoustic data transmission is introduced in this paper. In this method a receiver array is equipped on the vehicle and direction of arrival (DOA) of acoustic signal from a surface station, such as research vessel and autonomous surface vehicle (ASV), is measured. Additionally information of position of the surface station is included in the acoustic signal. Then position of the vehicle is calculated in the vehicle itself using measured DOA, depth obtained equipped sensor, and information of position of surface station. An ocean experiment using underwater vehicle “OTOHIME” was carried out in Sagami Bay in Japan. Receiver array and experimental device was equipped on the vehicle. Depth of experimental site was 300 to 800 meters. As result, those are found that this method is feasible for actual deep-sea underwater observation, that filtering of high-rate positioning output is effective to reduce random error even if the positioning target is cruising, and that reduction of random error is limited to 1 to 2 meters due to error of estimation of the position of the transmitter equipped on the bottom of the surface station.