METHOD OF INCREASING ACCURACY OF NAVIGATION OF AUTONOMOUS UNINHABITED UNDERWATER VEHICLE WITH INERTIAL NAVIGATION SYSTEM AND TECHNICAL VISION SYSTEM

摘要

FIELD: navigation.;SUBSTANCE: invention relates to the field of navigation and can be used to improve the accuracy of estimating the location of autonomous uninhabited underwater vehicles with an inertial navigation system and a vision system. Method of increasing the accuracy of navigation of an autonomous uninhabited underwater vehicle with an inertial navigation system and a technical vision system consists in the fact that when moving along a given trajectory, relative to which unknown underwater objects are located, in the field of vision of the vision system, a certain number of previously unknown stationary underwater objects are observed, then coordinates thereof are evaluated at each step, a combination of objects with the smallest dispersion of position estimation is selected, then the position of the autonomous uninhabited underwater vehicle is clarified by combining estimates of the coordinates of the position of the underwater vehicle, obtained using an inertial navigation system, with an estimate of the position of the apparatus, obtained using the vision system based on the relative motion of the apparatus to underwater objects and at each step. With a sharp increase in the variance of estimation of the combined estimate, the coordinates of the underwater vehicle are excluded from the assessment process the underwater object with the greatest error in determining the coordinates and the change or the inclusion of an underwater object with the smallest dispersion of determining its own coordinate is made in the process of estimating the position of an autonomous uninhabited underwater vehicle.;EFFECT: invention allows to increase the accuracy of determining the coordinates of their own position of an autonomous unmanned underwater vehicle several times due to a significant reduction in the growth of error with an active shift, the inclusion and exclusion from the process of estimating the coordinates of an autonomous unmanned underwater vehicle of previously unknown stationary underwater objects detected by a vision system.;1 cl