gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.0009gyroscopy-264Research ArticleСтатьиТехнология высокоточной привязки АНПА к инспектируемому объектуTechnology of AUV High-Precision Referencing to Inspected ObjectБобковВ. А.BobkovV. A.

Бобков Валерий Александрович. Доктор технических наук, заведующий лабораторией

КудряшовА. П.KudryashovA. P.

Кудряшов Алексей Павлович. Кандидат технических наук, научный сотрудник

ИнзарцевА. В.InzartsevA. V.

Инзарцев Александр Вячеславович. Доктор технических наук, заведующий лабораторией

Институт автоматики и процессов управления ДВО РАН (Владивосток).РоссияInstitute for Automation and Control Processes, Far Eastern Branch of the Russian Academy of SciencesRussian FederationИнститут проблем морских технологий ДВО РАН (Владивосток)РоссияInstitute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of SciencesRussian Federation201918112025274103116Copyright © Бобков В.А., Кудряшов А.П., Инзарцев А.В., 20252025Бобков В.А., Кудряшов А.П., Инзарцев А.В.Bobkov V.A., Kudryashov A.P., Inzartsev A.V.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/264

Предложены новый алгоритм и методика координатной привязки автономного необитаемого подводного аппарата-робота (АНПА) к подводным объектам по стереоизображениям для автоматизированной инспекции объектов донной промышленной инфраструктуры. Вычислительные эксперименты проведены с использованием имитационного моделирующего комплекса на гибридной многопроцессорной вычислительной архитектуре. Получены оценки эффективности предложенных решений.

A new algorithm and a method of coordinate referencing of a un-manned autonomous underwater vehicle (AUV) to underwater objects using stereo images are proposed for automated inspection of bottom industrial in-frastructure facilities. Computational experiments have been carried out using a modeling simulator based on a hybrid multiprocessor computing architecture. The proposed solutions have been estimated in terms of efficiency.

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The authors declare that there are no conflicts of interest present.