|Article title||CORRECTION OF TRIANGULATION METHOD FOR DETERMINATION THE POSITION OF AN AUTONOMOUS UNDERWATER VEHICLE|
|Authors||S. A. Otcheskiy, I. N. Burdinkiy|
|Section||SECTION II. NAVIGATION AND PROMPTING|
|Month, Year||03, 2013 @en|
|Abstract||The purpose of this work is the research and development of correction algorithms for triangulation method which is the classical way of determination the position of autonomous underwater vehicles using sonar navigation systems. This paper first analysis triangulation algorithm and reviews its disadvantages and their reasons. Second reviews correction algorithm based on analysis of data about distance between vehicle and the closest sonar buoy. Third develops new correction algorithm based on analysis of data about distance between vehicle and all sonar buoys. All represented algorithms have been implemented in program model and tested on a series of numerical simulations.|
|Keywords||Navigation; autonomous underwater vehicle; underwater sonar navigation system; positioning.|
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