NAVIGATION METHOD FOR AUTONOMOUS UNMANNED UNDERWATER VEHICLE Russian patent published in 2015 - IPC G01C23/00 

FIELD: physics, navigation.

SUBSTANCE: invention relates to navigation and can be used in navigation systems of autonomous unmanned underwater vehicles. The method includes determining location coordinates on underwater landmarks by measuring the bottom topography using on-board acoustic equipment; forming a regular grid of points of measured depths and comparing the obtained depth values with reference depth values, where when determining location coordinates on underwater landmarks the sinking speed of the autonomous unmanned underwater vehicle is determined using a log for measuring the speed of the autonomous unmanned underwater vehicle relative to the water surface. The method includes measuring hydrological parameters using side-looking sonar, a profile recorder, temperature and electrical conductivity measuring devices, and sound speed in the marine environment; from the measured depths, reconstructing the topography of the area by constructing Kronrod-Rib trees when comparing measured depth values with reference values. If critical depth coordinates match, said coordinates are used to adjust the inertial navigation system of the autonomous unmanned underwater vehicle.

EFFECT: low labour costs when performing underwater work using autonomous unmanned underwater vehicles.

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