About accuracy estimation of AUV single-beacon mobile navigation using ASV, equipped with DGPS

Abstract

The accuracy estimation of positioning system operation for autonomous underwater vehicle (AUV) based on using of single hydro acoustic beacon transported by autonomous surface vehicle (ASV) is discussed. The accuracy research is performed for two navigation algorithms which used information about distance to a single mobile beacon and data from the AUV onboard reckoning system. The first algorithm is based on the implementation of the extended Kalman filter for estimating the AUV location and the second algorithm involves usage of particle filter on board of the AUV. The method for accuracy estimation is described and some results of the marine trials using robotic complex MARC with AUV and ASV are supplemented.