FIELD: unmanned vehicles.
SUBSTANCE: invention relates to a method for positioning a self-propelled unmanned underwater vehicle (SUUV) that monitors an underwater area. For positioning SUUV, a group of self-propelled autonomous unmanned surface vehicles (SAUSV) is formed from at least three SAUSV operating in coordination via onboard radio communication, a route task is entered into the on-board control systems of each SAUSV, a route task is entered, the SAUSV group is placed in the monitoring zone, and the execution of commands of the route task of the corresponding SAUSV is started on each SAUSV, the current coordinates of the SAUSV are calculated in a certain way, using the reception and transmission of hydroacoustic signals, and the current coordinates of the SAUSV, using satellite navigation signals, the coordinates of the vertices of a regular polygon on the water surface are calculated from the condition of ensuring the equidistance of all SAUSV from the SUUV within the range of the equipment receiving and/or transmitting a hydroacoustic signal, the current vector of the horizontal movement of the SUUV is calculated, a command to move to a certain point with the calculated coordinates is included in the route task of each SAUSV, this command is executed repeatedly, calculating the coordinates in real time.
EFFECT: improved positioning accuracy of SUUV in real time.
2 cl
