The paper proposes a cost-effective method of navigation support for a group of autonomous underwater vehicles (AUV) which do not have expensive precision timing systems and absolute speed sensors. The approach is based on the use of a short-baseline acoustic positioning system (SBL APS). A method has been developed for AUV positioning with the coordinates being estimated according to their motion model. A short-baseline version of the APS is presented, in which the received signal processing unit for generating the time delay measurements on the AUV additionally measures the received signal frequency. A location estimation algorithm based on a particle filter has been developed for this purpose; it is designed to work on each AUV in real time. The descriptions of the proposed algorithms and the results of computer simulation of their operation are presented.
A. F. Shcherbatyuk (Mon,) studied this question.