Algorithms for Determining AUV Initial Unknown Position based on Data from Single-Beacon Mobile Navigation System
https://doi.org/10.17285/0869-7035.2017.25.1.064-077
Abstract
The paper considers the problem of initial unknown position determination of autonomous underwater vehicle (AUV) based on range to a single mobile sonar bea con transported by an autonomous surface vehicle. After diving the AUV is fixed over the bottom. Three algorithms are considered. Some performance results are given obtained in sea trials using marine autonomous robotic complex (MARC) including AUV and surface vehicle.
About the Authors
Yu. V. Vaulin
Institute of Marine Technology Problems (IMTP) FEB RAS, Vladivostok
Russian Federation
Russian Federation
F. S. Dubrovin
Institute of Marine Technology Problems (IMTP) FEB RAS, Vladivostok
Russian Federation
Russian Federation
A. F. Scherbatyuk
Institute of Marine Technology Problems (IMTP) FEB RAS, Vladivostok
Russian Federation
Russian Federation
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Review
For citations:
Vaulin Yu.V., Dubrovin F.S., Scherbatyuk A.F. Algorithms for Determining AUV Initial Unknown Position based on Data from Single-Beacon Mobile Navigation System. Giroskopiya i Navigatsiya. 2017;25(1):64-77. (In Russ.) https://doi.org/10.17285/0869-7035.2017.25.1.064-077
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