Development of System for Tracking of AUV in HANS-USBL Operation Area

The work is devoted to the development of a system for tracking the location of autonomous uninhabited underwater vehicles (AUV) in the area of operation of the hydroacoustic navigation system with an ultra-short BaseLine (HANS-USBL). This system implements the developed method for determining the desired movements of the supporting vessel, in which the AUV will safely carry out planned deep-sea missions without leaving the area of operation of the HANS-USBL. The system generates visual recommendations and warnings for operators and boatmasters in real time based on data on the position and orientation of the supporting vessel, as well as telemetry received from the AUV. The operability of the system implemented in C++ was tested using real experimental data. The paper presents the results of semi-natural tests based on data obtained in the deep-sea research expedition of the National Research Center for Marine Biology in the Pacific Ocean in July-August 2021. The obtained research results confirmed the operability and efficiency of using the proposed system for monitoring the mutual location of the AUV and its supporting vessel. The implementation of the developed system into the existing information control system of the AUV does not cause fundamental difficulties.