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This paper is devoted to the navigation of an autonomous underwater vehicle (AUV) with a mobile hydroacoustic beacon, which is transported by an autonomous surface vehicle (ASV). Two algorithms for AUV position estimation on base of data from the onboard reckoning system and a synthetic long base line acoustical positioning system (APS) were considered. The first algorithm is based on the discrete...
This work addresses the implementation of the navigation, guidance and control of autonomous underwater vehicles on mobile acoustic networks. After a theoretical discussion of the algorithms required for such operation, we present results from simulation and real experiments that validate the proposed solutions.
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