Simulation Modeling of an Autonomous Unmanned Underwater Vehicle Circular Motion Taking Into Account Random Interference in Sensor Signals

Research is devoted to the development of an integrated navigation system for an autonomous unmanned underwater vehicle (AUV) to determine its current coordinates and navigation parameters in different modes of movement. Simulation modeling of the AUV's circular motion was performed, and the influence of random disturbances in the sensors of the inertial measurement module (IMM) on the accumulation of course, speed, and position errors was analyzed. For circular motion of the ABPA, using the example of the inertial navigation system (INS) from Inertial Labs, mathematical and computer modeling of the INS operation was performed with reference signals from the IMS sensors, taking into account random disturbances inherent in real sensors, and an assessment of navigation errors was performed using analytical models. The obtained analysis of the errors showed that in the absence of external correction, the errors in determining the navigation parameters steadily accumulate, which leads to a significant deviation of the ABPA's trajectory from the specified circular trajectory.