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AUV Positioning Algorithms Used in Its Homing and Docking to Underwater Docking Station

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Abstract

AUV positioning algorithms used in its homing and docking to underwater docking station are described. The homing and docking trajectory consists of several steps, where different positioning methods are applied using the standard equipment on board modern heavy-class AUVs. Positioning errors at each step are estimated. The duration of positioning by the AUV onboard computer is assessed.

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Funding

This research was supported by the Russian Science Foundation (Project 22-29-00320).

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Authors and Affiliations

  1. Concern CSRI Elektropribor, St. Petersburg, Russia

    A. I. Mashoshin & I. V. Pashkevich

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  1. A. I. Mashoshin
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  2. I. V. Pashkevich
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Correspondence to A. I. Mashoshin.

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Mashoshin, A.I., Pashkevich, I.V. AUV Positioning Algorithms Used in Its Homing and Docking to Underwater Docking Station. Gyroscopy Navig. 14, 66–74 (2023). https://doi.org/10.1134/S2075108723010042

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