Studying some algorithms for AUV navigation using a single beacon: The results of simulation and sea trials

Abstract

This paper is devoted to navigation of autonomous underwater vehicles (AUV) with a mobile hydroacoustic beacon transported by an autonomous surface vehicle (ASV). Two algorithms for AUV positioning using information on the distance to a single beacon and the data from the onboard autonomous navigation system have been studied. The first algorithm is based on the application of the extended Kalman filter, and the other one uses the particle filter. The simulation of the considered algorithms performance and the results of the sea trials using a marine autonomous robotic complex (MARC), including an AUV and an ASV, are discussed.