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Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 1. Mathematical Formulation

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Abstract—

The article considers a problem of autonomous underwater vehicle (AUV) positioning with acoustic measurements of range and possibly radial velocity relative to a single beacon, velocity components and coordinate increments from an inertial navigation system, and the data from a water-speed log or a ground log. Interruptions in acoustic measurements reception are acceptable. Availability of a priori information on relative position of AUV and the beacon is not assumed. In order to solve the problem, the author proposes a multiple model algorithm based on a bank of extended Kalman filters which independently estimate the initial horizontal range and errors of the used data under different hypotheses about a value of AUV initial azimuth relative to the beacon. Current coordinates of AUV are determined by the outputs of filters, taking into account the a posteriori probabilities of the corresponding hypotheses. The algorithm is rather simple for programming and does not require much computational power.

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ACKNOWLEDGMENTS

This work was financially supported by the Government of the Russian Federation (Grant 08-08).

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  1. Concern CSRI Elektropribor, JSC, 197046, St. Petersburg, Russia

    D. A. Koshaev

  2. ITMO University, 197101, St. Petersburg, Russia

    D. A. Koshaev

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  1. D. A. Koshaev
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Correspondence to D. A. Koshaev.

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Koshaev, D.A. Multiple Model Algorithm for Single-Beacon Navigation of Autonomous Underwater Vehicle without Its A Priori Position. Part 1. Mathematical Formulation. Gyroscopy Navig. 11, 230–243 (2020). https://doi.org/10.1134/S2075108720030037

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