Abstract
The report is devoted to designing of algorithms for AUV mobile navigation system operation. The navigation system includes AUV onboard reckoning system and acoustic positioning system with long base line that uses single moving beacon. The approach is described where at first the initial AUV position and sound velocity in water are estimated and than AUV position is calculated on the base of the Kalman filtering. The algorithm for mobile beacon trajectory creation is discussed that allows minimizing the AUV positioning error. Some modeling results of proposed approach operation are supplemented.
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