Simulation of the Mooring Process of an Autonomous Underwater Vehicle to an Underwater Mooring Device

The algorithms of autonomous underwater vehicles (AUV) positioning at three stages of bringing to an underwater mooring device (UMD) are described. As a UMD, a horizontally located platform installed on the bottom is considered, mooring to which should be carried out by vertical immersion of the AUV on an even keel in a strictly defined orientation along the course. It is shown that: at distances to the UMD from units of kilometers to tens of meters, it is advisable to carry out positioning based on the distance and bearing of the UMD, determined by sonar and communication device; at distances from tens of meters to taking a position above the UMD, you should use the ultra short base line (USBL) method based on the signals of high-frequency emitters located on the UMD and receivers installed on the AUV; when directly mooring to the UMD, the use of the USBL method should be supplemented with one of the extra methods that ensure positioning at ex-tremely short distances. Positioning errors at each stage are estimated.