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Algorithms of AUV positioning based on distance data to single mobile hydroacoustic beacon


A.Ph. Scherbatyuk, F.S. Dubrovin

The paper is devoted to designing of algorithms for AUV mobile navigation system operation. The navigation system includes AUV onboard reckoning system and acoustic positioning system with long base line that uses single moving beacon. The approach is described where at first the initial AUV position and effective velocity of sound signal in water are estimated and than AUV position is calculated on the base of the Kalman filtering. The algorithm for mobile beacon trajectory creation is discussed that allows minimizing the AUV positioning error. Some modeling results of proposed approach operation are supplemented.

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