FIELD: physics.
SUBSTANCE: underwater robot system comprises a propulsion-steering system, wherein one propulsor has propulsion force of up to 100 kG in the vertical direction and the other has propulsion force of up to 50 kG in the horizontal direction. The navigation system further comprises a small-size hydroacoustic Doppler log and a platform immersion depth measuring device. The hydroacoustic navigation system of the apparatus has a long base. A transponder is installed on a fixed base with known coordinates. When positioning the platform on angles of horizontal and azimuthal orientation based on satellite navigation system data, coordinates are determined in topocentric and bound coordinate systems.
EFFECT: enabling automation of underwater and surface robots in the region of investigating underwater objects.
5 cl
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|---|---|---|---|
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