This article is cited in 3 papers

Algorithms and Software

The Post Triangulation Algorithm for Coordinate Correction of an Autonomous Underwater Vehicle

S. A. Otcheskii^ab, I. N. Burdinsky<sup>ab

a</sup> Pacific National University (PNU)
^b Institute of Marine Technology Problems

Abstract: In the paper, an algorithm for calculating the underwater autonomous vehicle position built on the triangulation method and post triangulation correction is proposed. A distinctive feature of the algorithm is that it uses as input multiple sets of distances vehicle-beacon calculated with different values of the speed of sound in water. The research of the developed algorithm has found that the accuracy of the proposed solution is twice higher than the accuracy of the triangulation method.

Keywords: autonomous underwater vehicle; acoustic navigation system; positioning; coordinate calculation; triangulation method.

UDC: 681.518.3

DOI: 10.15622/sp.45.12

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