METHOD FOR PROVIDING NAVIGATION OF SELF-CONTAINED UNDERWATER ROBOT Russian patent published in 2014 - IPC G01S15/42 

FIELD: radio engineering, communication.

SUBSTANCE: method of providing navigation of a self-contained underwater robot, the position of which is controlled from a support ship, where the method comprises, on-board the self-contained underwater robot, computing the trajectory thereof based on data from velocity, heading and depth sensors; receiving navigation signals emitted by a hydroacoustic beacon with known coordinates; measuring the propagation time of the acoustic signal between the self-contained underwater robot and the support ship; and based thereon and the distance between the self-contained underwater robot and the hydroacoustic beacon and using the value of said distance to obtain current spatial coordinates of the self-contained underwater robot. Current coordinates of the hydroacoustic beacon are determined by ship navigation means and are transmitted over a hydroacoustic link to the self-contained underwater robot as part of navigation signals emitted by the hydroacoustic beacon, and information processing data received at the self-contained underwater robot, said data containing an estimate of the coordinates of said robot, as part of an inverse navigation signal are transmitted over a hydroacoustic channel to the support ship. The method is characterised by that the support ship manoeuvres on the water surface relative to the trajectory of the self-contained underwater robot, crossing its projection on the water surface and moving towards a specific point on the water surface, wherein coordinates of said point are determined using information on the current distance between the hydroacoustic beacon and the self-contained underwater robot, and an estimate of the error in determining the location of the self-contained underwater robot, transmitted to the support ship from the self-contained underwater robot as part of the inverse navigation signal.

EFFECT: high accuracy of determining the current location of self-contained underwater robots in space without using a hydroacoustic navigation system with an ultra-short base, which does not provide the required accuracy of determining the bearing of a hydroacoustic beacon and the required accuracy of determining the location of self-contained underwater robots.

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