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Article title MATHEMATICAL MODELLING OF COORDINATE DETERMINATION ALGORITHMS FOR UNMANNED UNDERWATER VEHICLE USING DATA ON EARTH’S PHYSICAL FIELDS
Authors G.I. Dzhandzhgava, T.V. Sazonova
Section SECTION II. MARINE ROBOTICS
Month, Year 01, 2016 @en
Index UDC 531.383.11
DOI
Abstract Issues concerning employment of principles of correlation-extreme correction of navigation parameters by the use of data on Earth’s physical field (EPF) for a low-speed unmanned underwater vehicle (UUV). The purpose of math modelling was estimation of correlation-extreme processing (CEP) capability and its precision characteristics by the use of Earth’s magnetic, gravitational fields and seabed relief as well as by combing all these data. Real cartographic information on all studied EPFs was used for math modelling. Initial position of UUV was set randomly considering prior error of strap-down INS from 1000 m to 25000 m. Statistic characteristics of CEP were estimated via series of starts by various prior INS errors, cartographic errors, EPF sensor errors and UUV speed drift. Carried out math modelling of CEP mode showed that it is rational to use studied EPFs in combination. Moreover potentially achievable correction CEP accuracies are estimated at level 200 m. If CEP by seabed relief can not be performed due to limitation on UUV dive depth then Earth’s magnetic field is crucial for correction. In this case correction accuracy deteriorates to values at level 450-500 m. CEP by gravitational field has precision characteristics worse than by magnetic heading, approximately by 1.5 and, moreover when it is used the risk of extreme correction failure. That is why it is rational to use gravitational field only with magnetic field in order to carry out CEP if there is strong magnetic interference.

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Keywords Correlation extreme navigation system; Earth's physical fields; magnetic field; gravitational field; seabed relief.
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