RESULTS OF TESTING THE POSITIONING ALGORITHM AND DETERMINING THE ORIENTATION OF THE UNDERWATER VEHICLE BASED ON DATA FROM HYDRO-ACOUSTIC BEACONS

The article deals with the determination of coordinates and orientation angles autonomousunderwater vehicle (AUV) relative to stationary landing platform using high-frequencynear-range hydroacoustic system. navigation task implies maneuvering approachingthe underwater station, which is associated formation zones differentacoustic visibility station's emitters by receiving elements vehicle. Three ofacoustic can be distinguished. first zone characterized observation signals allbeacons station. As a consequence, this most informative for solving theproblem positioning AUV. second corresponds topartial reduction number observed beacons, does not critically influence possibilityof problem solving. third (landing) defined essential observedbeacons, that, as considerably complicates solution problem,taking into account increased requirements on accuracy at moment thedevice caused provision safety. To maintain determine underwatervehicle in zone, it proposed use results obtained early stages ofapproach station (the zones). A mathematical statementof given work, algorithm its described. When findingthe AUV zones, consists two subtasks. subtaskis rough estimation location vicinity K-nearestneighbors method; subtask specification estimations pseudo-dimensionalmethod system algebraic equations Levenberg-Marquardt algorithm. In addition,estimation beacon emission time carried out. At finding ANPA isreduced forecast signal bya beacon, received device one two. simulation modelingand approbation mockup theunderwater test pool are presented.