NAVIGATION METHOD OF SUBMERSIBLE ROBOT USING SINGLE-BEACON SYSTEM Russian patent published in 2015 - IPC G01S15/06 

FIELD: radio engineering, communication.

SUBSTANCE: submersible robot navigation process involves use of one reference hydroacoustic beacon, the coordinates of which are specified by means of satellite navigation systems and transmitted via a hydroacoustic channel to the submersible robot, in the process of movement of which measurements of speed, heading and depth are made; navigation signals emitted by the reference hydroacoustic beacon are received using the corresponding sensors; time or propagation of the signal from the beacon to the submersible robot is measured; aboard the submersible robot there initiated is a set of supposed positions: the points, the geographical coordinates of which are uniformly scattered around the submersion area; initially, each position is considered to be equally probable; the number of supposed positions is chosen based on computational possibilities of submersible robot equipment and the required accuracy level of determination of location; when the navigation signal is being received by the submersible robot from the reference beacon, deterministic shift of each supposed position is performed.

EFFECT: enlarging functional capabilities.

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