COMPUTER SCIENCE. NANOTECHNOLOGY

Applications of micromechanical altitude and heading reference system in positioning system and control of autonomous objects

V. N. Maksimov^a, A. S. Pritis^a, S. Ya. Sukonkon^b, S. S. Amiragov<sup>b

a</sup> Moscow Aviation Institute (National Research University)
^b Developmental bureau of oceanologic technics of the Russian Academy of Sciences, 109387, Moscow, 1, Letnyaya street, building 2

Abstract: This paper considers possibilities of constructing an autonomous robot trajectory control for oceanological equipment. It presents the architecture and algorithmic software of the navigation system. Navigation system based on the weak complexation of information micromechanical inertial sensors, satellite navigation receiver system and vector magnetometer. For trajectory control management system was used, which considers the motion of a floating robot, conditioned by the shape of its hull and the design of the drive motors.

Keywords: autonomous underwater vehicle, trajectory control, integrated system, micromechanical inertial sensors.

UDC: 531.7; 534.1.08; 629.7

Received: 11.03.2012

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