Abstract
The paper proposes the architecture of a digital platform for the implementation of distributedcontrol and navigation systems of underwater vehicles (UV), that perform technological operationsin an uncertain environment. The proposed digital platform is designed to automate thefollowing activities: monitoring the state of underwater infrastructure objects (communicationlines, pipelines, mining equipment, etc.), cartographic and geodesic works, determining the parametersand boundaries of physical fields, zones of distribution of chemical compounds (pollutionzones) and bioresources, protection of underwater and surface infrastructure objects (underwatermariculture farms, borders of water reserves, etc.), tracking moving objects, searching for objectsof a given type (biological, man-made, etc.), performing underwater technological operations(welding, cutting, cleaning, etc.). For this platform, a command system has been developed thatprovides flexible assignment of various types and purposes of UV missions. There are five types ofdigital platform messages: mission order management commands, mission load managementcommands, information messages, mission and group control commands. The concept of buildingdistributed control systems of the UV is proposed, which ensures the compatibility of existing onboardUV systems with the proposed solution based on the combined hydroacoustic systems ofglobal hydroacoustic navigation developed in PAO "Dalpribor" (Vladivostok). These control systemsconsist of two main parts. The first part is the initial on-board information and control systemof the UV, which ensures its movement to a given point in space at a given speed, receivingdata from on-board sensors, as well as controlling the operation of on-board equipment. The secondpart – the high level control system, provides the possibility of interaction of the control systemthrough an acoustic communication channel with the global hydro-acoustic navigation systemand the operator's automated workplace. Simulation of the data transfer in CoppeliaSim betweenthe operator and the UV within the proposed digital platform have shown that reliable missionloading and receiving information about the state of the UV is provided at different speeds andunder different operating conditions of the acoustic communication channel.
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