FIELD: navigation.
SUBSTANCE: invention relates to methods for navigating autonomous uninhabited underwater vehicles (AUUVs), and specifically to methods for ensuring the safety of their navigation. The effect is achieved by using the capabilities of sonar mounted on heavy AUUVs, in terms of the width of the field of view of space (more than 180° in the horizontal plane) and the detection range of NPP (more than 1 km). The substance of the invention consists in determining, according to the sonar data, a smoothed straight line drawn along the front of the detected NPP, and the movement of the AUUV parallel to this line.
EFFECT: reduction of time to bypass fixed underwater obstacles (NPP).
1 cl, 10 dwg
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