Vol. 16, no.2, 2024
РусскийEnglish
INFORMATION TECHNOLOGIES
One approach for group navigation of unmanned underwater vehicles
Alexander F. Scherbatyuk
Institute of Automation and Control Processes of the FEB RAS, http://www.iacp.dvo.ru/
Vladivostok 690041, Russian Federation
E-mail: alex-scherba@yandex.ru
Yury V. Matvienko
M.D. Ageev Institute of Problems of Marine Technology of the FEB RAS, http://www.febras.ru/
Vladivostok 690950, RussianFederation
E-mail: ymat33@yandex.ru
Venedikt M. Kuz'kin
Prokhorov General Physics Institute of RAS, https://www.gpi.ru/
Moscow 119991, Russian Federation
E-mail: kumiov@yandex.ru
Sergey A. Pereselkov
Voronezh State University, https://www.vsu.ru/
Voronezh 394006, Russian Federation
E-mail: pereselkov@yandex.ru
Vladimir I. Grachev
Kotel'nikov Institute of Radioengineering and Electronics of RAS, http://www.cplire.ru/
Moscow 125009, Russian Federation
E-mail: grachev@cplire.ru
Received November 08, 2023, peer-reviewed November 15, 2023, accepted November 22, 2023, published April 25, 2024
Abstract: A method for the group navigation support of autonomous underwater vehicles performing a common mission in shallow waters, which includes a leader underwater vehicle with high-precision navigation tools, is described. The operation of all devices is synchronized and involves information interaction between them. The determination for coordinates of the vehicles is based on measuring the distances between them and the leader device. An algorithm for estimating the location of individual devices is considered. The results of numerical modeling are presented, confirming the operability and required accuracy of the considered algorithm.
Keywords: navigation software, underwater vehicle, numerical simulation, particle filter
UDC: 004.052.34
RENSIT, 2024, 16(2):267-274e DOI: 10.17725/j.rensit.2024.16.267
Full-text electronic version of this article - web site http://en.rensit.ru/vypuski/article/552/16(2)267-274e.pdf