METHOD OF CONTROLLING MOBILE OBJECT Russian patent published in 2016 - IPC G05D1/00 B63G8/00 

FIELD: control systems.

SUBSTANCE: invention can be used in designing control systems of mobile objects providing their displacement along specified trajectory with a given trajectory speed, or to a given point along preset trajectory without trajectory speed requirements presentation, or to a given point with zero final speed. In method of controlling movable object is measured external coordinates of mobile object and derivatives thereof, a row of matrices, matrix coefficients and a control signal for control of underwater vehicle. Near control object is placed on water surface ship control station equipped with receiver of signals from satellite navigation systems, using sonar and underwater radio communication system with controlled object. Using satellite navigation system signal receiver is determined external coordinates of ship control station, and using sonar determined distance to control object and its angle of vision at this range and angle of sight of external control and object coordinates are determined using a system of underwater communication is transmitted to obtained coordinates.

EFFECT: technical result is possibility of determining external coordinates of underwater vehicle.

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