Some Results of Preliminary Natural Experiments for Algorithms of Differential-Ranging Acoustic Positioning System Intended for AUV Group Navigation

Abstract

The problem of navigation for groups of autonomous underwater vehicles using a long-base line differential-ranging positioning system is discussed. Two developed navigation algorithms are presented that implement enumeration search and analytical methods for solving the difference-ranging problem. A description of the performed experiments with operation of the described algorithms in natural marine conditions and some results of their work are supplemented.