Study of the algorithms for the single beacon mobile navigation of unmanned underwater vehicles: results of simulation and sea trials
https://doi.org/10.17285/0869-7035.2015.23.4.160-172
Abstract
This paper is devoted to the navigation of an autonomous underwater vehicle (AUV) with a mobile hydroacoustic beacon, which is transported by an autonomous surface vehicle (ASV). Two algorithms for AUV position using information on the distance to a single mobile acoustical beacon and data from the onboard reckoning system were used. The first algorithm is based on the extended Kalman filter and the second one uses the particle filter. The simulation and the marine trial results of the considered algorithms operation using AUV and ASV are discussed.
About the Authors
F. S. Dubrovin
Far Eastern Federal University, Vladivostok
Russian Federation
Russian Federation
A. F. Scherbatyuk
Far Eastern Federal University, Vladivostok
Russian Federation
Russian Federation
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Review
For citations:
Dubrovin F.S., Scherbatyuk A.F. Study of the algorithms for the single beacon mobile navigation of unmanned underwater vehicles: results of simulation and sea trials. Giroskopiya i Navigatsiya. 2015;23(4):160-172. (In Russ.) https://doi.org/10.17285/0869-7035.2015.23.4.160-172
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