Some Algorithms of Differential-Ranging Acoustic Positioning System Intended for AUV Group Navigation
Fedor Dubrovin, Yuri Vaulin, Alexander Scherbatyuk, Alexander Rodionov, Darya Scherbatyuk · Global Oceans 2020: Singapore – U.S. Gulf Coast · 2020
The paper considers the task of AUV group navigation using a long-base line differential-ranging acoustic positioning system. For solving the difference-ranging (DR) problem two navigation algorithms are developed and presented. The first of them implements enumeration search and the second allows to find the solution by analytical way. The simulation results of developed algorithms work are presented.