DEVELOPMENT OF ALGORITHMS FOR AN AUTONOMOUS UNDERWATER VEHICLE NAVIGATION WITH A SINGLE MOBILE BEACON: THE RESULTS OF SIMULATIONS AND MARINE TRIALS

摘要

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 results of the algorithm performance are discussed; also given are some results of the marine trials with AUV and ASV.