Abstracts

№3 2016

 

SENSOR POLLING AND POWER CONTROL IN THE ABONENT KIT CLUSTER OF A TERRESTRIAL STATION IN THE DIFFERENTIAL CORRECTION AND MONITORING SYSTEM

 

  1. P. Fedortsov, P. A. Chekanov

 

A program suite, developed due to integrity requirement of the System of Differential Correction and Monitoring (SDCM), is considered in this paper. SDCM is a functional extension of global navigation satellite system GLONASS.

The program suite provides monitoring of temperature, state of access sensors, power supply parameters and power control of the abonent kit cluster, which is a part of terrestrial measurement station of SDCM. Perspective extensions of the program suite are discussed.

 

Keywords: System of Differential Correction and Monitoring, monitoring of access and temperature sensors, power supply, power control of computer equipment.

 

 

 

 

VEHICLE FAULT TOLERANT INTEGRATED NAVIGATION SYSTEM

 

  1. K. Veremeenko, D. A. Antonov, M. V. Zharkov, I. M. Kuznetsov

 

The main source of navigation information of most known intelligent transportation system (ITS) projects is an on-board satellite navigation system (SNS) GPS-GLONASS receiver. The key feature of SNS is positioning accuracy and fault-tolerance level decreasing in case of its dense urban operation because of multipath. Existing techniques of increase of accuracy and fail safety of the navigation complex of vehicle is given, the original approach is offered. The common structure of multipath contaminated satellite signal detection, control and exclusion algorithm is shown. An algorithm realizing this approach is considered.

Keywords: intelligent transportation system, inertial navigation system, MEMS, satellite navigation system, multipath, optimal information processing, integrated navigation system.

 

 

 

REDUCING THE RFI VULNERABILITIES AT VLBI–COMPLEX “QUASAR”

 

  1. A. Tsaruk, S. A. Grenkov, I. A. Rahimov

 

The main results of impact of RFI in “Quasar” network observatories. Methods of RFI protection are discussed.

 

Keywords: Quasar, reducing, RFI, VLBI-complex, vulnerabilities.

 

 

 

USING TACHOGRAPHS FOR ROAD SAFETY

 

  1. V. Dyachenko, A. S. Pylypovych

 

In the article the possibility of using tachographs with GLONASS/GPS global positioning modules for providing traffic safety and also results of testing the firmware «TRASSA» are considered.

 

Keywords: GLONASS, GPS, Ministry of internal Affairs of Russia, road accidents, safety, tachograph.

 

 

 

№4 2016

 

AN INERTIAL SATELLITE MICRONAVIGATTION SYSTEM FOR A SYNTHETIC-APERTURE RADAR

 

  1. V. Chernodarov, A. P. Patrikeev, V. N. Kovregin, G. M. Kovregina

 

A technology for estimation of and compensation for path instabilities of a synthetic-aperture radar (SAR) with the use of a distributed micronavigation system (DMNS) is considered. The implementation of such a technology relies on the mutual support of inertial, satellite, and radar systems. Procedures for synchronization of inertial and satellite measurements are proposed when estimating DMNS errors. For increasing the accuracy of estimation of DMNS errors, the use of combined procedures of filtering and smoothing of observations also on the interval of aperture synthesis is proposed. The results of flight development of the DMNS are presented, which corroborate the fact that it is possible and expedient to apply the proposed technology for increasing the SAR resolution.

 

Keywords: aperture synthesis, inertial satellite system, micronavigation, path instabilitie, radar system.

 

 

 

MULTI–MODE ANTENNAS FOR ANTI-JAMMING SYSTEMS

 

  1. E. Bankov, A. G. Davydov, A. A. Kurushin, K. B. Papilov, S. V. Samkov

 

Investigation and design of two multimode printed antennas – single and dual layered are considered. These antennas are intended for use in anti-jamming and direction finding systems. Proposed antennas are analyzed with help of an approximate resonator model. It is demonstrated numerically that these antennas may form radiation pattern with null in the required arbitrary direction for waves of both orthogonal polarizations. It is demonstrated with help of a numerical simulation that in the proposed antenna three dominant eigenmodes may be tuned to have identical resonance frequencies and Q-factors close to Q-factor of a conventional patch antenna. Application of three ports provides well matching and independent excitation of eigenmodes. Results of experimental investigation of dual layered printed antenna are presented.

 

Keywords: anti-jamming, multimode antenna, phase direction-finding, printed antenna.

 

 

 

 

EXPERIMENTAL ANALYSIS OF GNSS POSITIONING USING SBAS

 

  1. E. Lopatko, S. M. Pichugin

Results of GNSS GLONASS/GPS receiver operation in differential mode, using data from regional differential systems SDCM/EGNOS/GAGAN are presented. Accuracy of experimental results and the analysis of SBAS correction message are discussed.

 

Keywords: accuracy, EGNOS, experimental data, GAGAN, GLONAS, GPS, satellite navigation, SBAS, SDKM.

 

 

 

VEHICLE FAULT-TOLERANT INTEGRATED NAVIGATION SYSTEM

MULTIPATH ESTIMATION ALGORITHM

 

  1. K. Veremeenko, D. A. Antonov, M. V. Zharkov, I. M. Kuznetsov

 

An integral part of vehicle fault-tolerant integrated navigation system algorithm – an algorithm of pseudorange and Doppler shift increment control between the two last epochs of measurements in order to detect distortions of GNSS signals caused by multipath. The results of the simulation, confirming the efficiency of provided algorithm, as well as demonstrating levels of achieving accuracy of integrated navigation solution and the time of distortion in the GNSS signals detection, depending on measurements distortion rate of increase and system inertial sensors accuracy.

 

Keywords: Strapdown inertial navigation system, SINS, satellite navigation system, multipath, optimal information processing, integrated navigation system.

 

 

 

 

PROBLEMS OF METROLOGICAL PROVIDING FOR USER NAVIGATION

EQUIPMENT IN THE MINISTRY OF INTERNAL AFFAIRS OF RUSSIA

 

  1. V. Dyachenko, I. A. Efimov

 

In the article the current status of metrological service in the Ministry of Internal Affairs of Russia and a possibility of test laboratory of the Ministry in the sphere of navigation activities are considered. Results of a provisional estimate of amount and costs on metrological works with park of the user navigation equipment which is a measuring instrument are given.

 

Keywords: GLONASS, metrological providing, Ministry of Internal Affairs of Russia, navigation equipment, test laboratory.

 

 

 

№1 2017

 

GNSS GLONASS WEAK SIGNAL ACQUISITION ALGORITHM

 

  1. V. Krinitski

 

The paper describes the algorithm for weak GNSS signal acquisition and presents the results of mathematical modeling of the proposed algorithm.

 

Keywords: GLONASS, GNSS, digital signal processing, signal acquisition.

 

 

 

RADIO BEACON INSTRUMENT CATHEGORY II APPROACH SYSTEM FOR DOMESTIC AND INTERNATIONAL UNF RANGE WAVE PRMG-UHF

 

  1. A. Ershov, V. M. Korol, Y. T. Krivoruchko, M. D. Maksimenko, V. M. Perelomov, E. A. Sinitsyn, Y. G. Shatrakov

 

The article describes structure and new possibility of landing radio beacon group for instrument approach aircrafts, called PRMG.

 

Keywords: complex stend of testing, distance radio beacon, differential mode, equipment data link, glide radio beacon, GLONASS/ GPS, localizer radio beacon.

 

 

 

THE PRESENT STATUS AND FUTURE DEVELOPMENT

OF THE RADIONAVIGATION TECHNICAL AIDS

 

Yu. A. Soloviev, V. M. Tsarev

The paper reviews the present status and principal development areas in the radionavigation technical aids. Characteristics of satellite and terrestrial radionavigation systems in governmental radionavigation plans are analyzed, the development of navigation user requirements possible challenges in providing resilient navigation support and trends in development of radionavigation technologies.

 

Keywords: BeiDou, Galileo, GBAS, GLONASS, GNSS, GPS, IFRNS, radionavigation system, satellite radionavigation system, SBAS.

 

 

 

URGENT ISSUES IN INPLEMENTATION OF THE PROJECT “ERA-GLONASS”

 

  1. V. Dyachenko, I. A. Efimov

 

Besides combined statements in «ERA-GLONASS» integration with «system-112», basic functions of on-board communication stations are described in the article.

 

Keywords: GLONASS, «ERA-GLONASS», «System-112»; traffic accidents; data systems.

 

 

 

№ 2 2017

 

 

PERFORMANCE EVALUATION OF VARIOUS IMPLEMENTATIONS OF GNSS RECEIVER FOR HIGH DYNAMIC OBJECTS AT LOW SIGNAL-TO-NOISE RATIOS

 

  1. Y. Karpinskiy, V. A. Ognev

 

Performance of a GNSS receiver at low signal-to-noise ratios depends on the tracking loops design. GNNS receiver with conventional tracking schemes (see [1–3]) onboard of high-dynamic object can determine navigation parameters at a minimum signal-to-noise ratio of 30 dBHz. The new architecture of tracking loops proposed in the article makes it possible to ensure the operation of the GNSS receiver at a lower signal to noise ratio (down to 22 dBHz). With this technique a small position error is achieved (6 m at a confidence level of 95%). The article reveals the factors that determine the minimum signal-to-noise ratio at which the receiver can track GNSS signals, presents the results of an experimental evaluation of the GNSS receiver performance at low signal-to-noise ratios, gives recommendations for the development of GNNS receiver for high dynamic platforms.

 

Keywords: GNSS-receiver, high dynamic object, satellite navigation, signal-to-noise ratio.

 

 

 

PERFORMANCE A PRIORY EVALUATION TECHNIQUES FOR GLONASS SDCM

 

  1. G. Bystrakov, Yu. A. Soloviev, D. A. Ustiuzhanin

 

The paper describes methodological aspects of a priory evaluation of the GLONASS system differential correction monitoring performance. Evaluation is carried out by modelling navigation satellites» motion and calculation of relevant

accuracy and availability characteristics with account of pseudo-range residual errors specified by the ICAO.

 

Keywords: accuracy, a priory evaluation, availability, GLONASS, GNSS, GPS, integrity, navigation satellite, performance, SDCM.

 

 

 

FAULT-TOLERANT NAVIGATION COMPLEX FOR AN AUTOMATIC UNINHABITED UNDERWATER VEHICLE

 

  1. S. Amiragov, D. A. Antonov, K. K. Veremeenko, M. V. Zharkov, A. N. Pronkin, E. L. Chehov

 

An automatic unmanned underwater vehicle (AUUV) intended for work at depths of up to 600 m is briefly described. The article presents AUUV concept and test results. Based on the results of the tests an updated structure of complex information interaction was proposed and new AUUV navigation elements placement scheme was designed.

 

Keywords: automatic, automatic unmanned underwater vehicle, complex, concept, navigation, structure, underwater vehicle.

 

 

 

XXI CENTURY – NAVIGATION AT SEA – E-NAVIGATION. P. I

 

Yu. I. Bazarov, V. A. Atamanyuk, A. G. Rodionov

 

It is considered the E-Navigation Concept, developed by IMO and IALA for marine vessels with purpose to improve security and safety of navigation at sea, named its components and proposed the ways of implementations. The architecture of shipborne navigation equipment is described. The core of the equipment is multi-system multichannel GNSS receiver. Maritime Service Portfolios for navigation provision and safety at sea of vessels is described. Receiver of the signal of terrestrial radionavigation system may be included in composition. The necessity of satellite VHF communication improvement is shown (VDES – VHF Data Exchange System) to provide transmission of constantly increasing volume of information in quasireal time scale. Status and perspectives of e-Navigation («road

map») in Russiaare described.

 

Keywords: AIS, CDMA, FDMA, GLONASS, GNSS, GPS, IALA, IMO, marine differential subsystem, РРР, user equipment, RTK, VHF.

 

 

 

№3 2017

 

IMPROVEMENT OF ESTIMATION METHODS OF CHARACTERISTICS

OF STRAPDOWN INERTIAL NAVIGATION SYSTEMS AT FLIGHT TESTS

 

  1. G. Kharin, I. A. Kopylov, V. A. Kopelovich, A. F. Yakushev, A. Y. Makarova

 

The article presents the results of the research aimed at creating effective methods and means of assessment of the strap down of inertial navigation systems (SINS) on the basis of complex use of the results of mathematical and seminatural modeling of the system work, flight tests on the flying laboratories and on experimental aircraft. The complex technology of the SINS errors analysis is based on the methods of optimum information processing, factorial analysis of SINS large errors, statistical modeling SINS errors with the use of the Monte Carlo method with the confirmation of statistical uniformity of materials. It is only the independent channel integrated with the BINS navigation satellite system that is considered. New and existing methods and means of SINS characteristics assessment have been respectively developed and enhanced in order to issue recommendations concerning the increase of their precision characteristics. On the basis of the existing «Etalon» program complex program complexes «Etalon-XXI» and «Etalon-MK» have been developed. The perspective technology of working off at all test stages including SINS certified flight tests has been created. The developed technology will allow to increase informational content of the characteristics analysis, to reduce terms and cost of flight tests and SINS certification. Application of the developed methods and means is shown on the examples of the assessment of the BIMS-T inertial and satellite systems at the Il-76MD flying laboratory (FL) and the plane Il-96-300, LINS-100RS at the maneuverable MiG-29UB flying laboratory.

 

Keywords: estimation methods, flight tests, Monte Carlo SINS, strapdown inertial navigation systems.

 

 

 

STAR TRACKER NOISE EQUIVALENT ANGLE FILTRATION IN SATELLITE ON-BOARD ATTITUDE AND ORBIT CONTROL SYSTEM

 

  1. V. Ryabogin

 

In nowadays star trackers (ST) are an important part of satellite on-board attitude and orbit control systems (AOCS). Measurement errors define ST accuracy. ST measurement errors like an bias, low frequency error and relativistic error, in some cases could be not considered, because this ST errors could be minimized by ST

and target equipment adjustment and mission preparation. This paper consists the way of ST noise equivalent angle (NEA) filtration. The algorithm isn»t based any classic filtration method and provides NEA filtration without delays. The algorithm via virtual star tracker (VST) synthesis by two ST measurements processing provides ST NEA guarantied filtration. Suggested algorithm with simple mathematical operations allows to reduce around boresight axis NEA to level boresight axis direction NEA without need of sufficient computing capability of AOCS. An satellite AOCS could be design like uniformly precise with application of suggested algorithm without any additional NEA filtration.

 

Keywords: filtration, measurements fusion, satellite on-board control system, satellite, spacecraft, star tracker, virtual star tracker, uniformly precise attitude.

 

 

 

EXPERIENCE IN DEVELOPING COPETITIVE DOMESTIC PRECISE NAVIGATION EQUIPMENT

 

  1. L. Korneyev, T. Yu. Dubinko, V. V. Yegorov

 

The paper presets the outcome of the development of competitive national equipment for precise navigation, including the estimates of manufacture locations in RF, user expenses, possible applications in tachgraphs, in precise agriculture, in ERA-GLONASS. Drawbacks of using global satellite navigation systems (GNSS) are shown and information is given about the development of a precise Local Navigation System (LNS) capable of using all the advantages of a navigation signal with robust interference immunity.

 

Keywords: GNSS, localization, LNS, navigation, UNE, receiver, precision agriculture, price, ERA-GLONASS.

 

 

 

XXI CENTURY – NAVIGATION AT SEA –E-NAVIGATION. P. II

 

Yu. I. Bazarov, V. A. Atamanyuk, A. G. Rodionov

 

It is considered the E-Navigation Concept, developed by IMO and IALA for marine vessels with purpose to improve security and safety of navigation at sea, named its components and proposed the ways of implementations. The architecture of shipborne navigation equipment is described. The core of the equipment is multi-system multichannel GNSS receiver. Maritime Service Portfolios for navigation provision and safety at sea of vessels is described. Receiver of the signal of terrestrial radionavigation system may be included in composition. The necessity of satellite VHF communication improvement is shown to provide transmission of constantly increasing volume of information in quasireal time scale. Status and perspectives of e-Navigation («road map») in Russia are described.

 

Keywords: AIS, CDMA, FDMA, GLONASS, GNSS, GPS, IALA, IMO, marine differential subsystem, РРР, user equipment, RTK, VHF.

 

 

№4 2017

 

SOME RESULTS OF THE RUSSIAN-CHINESE EXPERIMENT ON NAVIGATION STUDIES USING THE GLONASS, BEIDOU AND GPS NAVIGATION SATELLITE SYSTEMS IN THE SILK ROAD PROJECT

 

  1. N. Karutin, A. A. Bermishev, D. V. Vinderskikh, V. L. Lapshin

 

The results of an experiment on the study of navigation issues using the GLONASS, Beidou and GPS navigation systems in the Silk Road project on the Moscow-Novosibirsk highway are considered. Estimates of the quality of satellite

navigation based on the use of signals from global navigation satellite systems (GNSS), the results of testing some samples of the navigation equipment of the consumer operating using various GNSS, assessing the efficiency of using the information of the Russian system of differential correction and monitoring and assessing the availability of cellular communications in this transport corridor.

 

Keywords: Beidou, GLONASS, GPS, differential correction and monitoring system, MIDL, navigation equipment of the consumer.

 

 

 

INTEGRATION OF DISTRIBUTED INERTIAL NAVIGATION SYSTEMS BUILT AROUND FIBER-OPTIC AND MICROELECTROMECHANICAL SENSORS

 

  1. V. Chernodarov, A. P. Patrikeev, S. A. Ivanov, I. I. Merkulova

 

Basic features of the integration of inertial and satellite navigation systems (ISNS), which are built around fiber-optic and microelectromechanical sensors are considered. New properties of the above systems, which are connected with their unification into a single structure are justified. The possibility for the raising of both their accuracy characteristics and their reliability characteristics is shown. The proposed approaches to the realization of such a possibility for the ISNS rely on the method of vector matching and Kalman filtering mathematical apparatus. The

studies conducted corroborate the fact that it is possible and expedient to apply the proposed technology to improve accuracy characteristics of the combined ISNS.

Keywords: fiber-optic sensors, inertial navigation systems, micromechanical sensors, system integration.

 

 

 

NAVIGATION SIGNAL TRACKING ALGORITHM FOR DIFFERENTIAL

CORRECTIONS MEASUREMENT USING THE KALMAN FILTER

 

  1. Krinitski

 

The paper describes the navigation signal tracking algorithm for differential corrections measurement using the Kalman filter, and presents the results of mathematical modeling of the proposed algorithm.

 

Keywords: GLONASS, GNSS, digital signal processing, Kalman filter, signal tracking.

 

 

 

GLONASS/GPS MOPS: DEVELOPMENT COMPLETION AND STATEMENT

 

  1. V. Silin

 

In the article process of development and the approval in 2017 of the international industrial standard on the minimum operational characteristics for the airborne GLONASS/GPS aviation receiver operating on L1 frequency band is described.

 

Keywords: civil aviation, GLONASS, GPS, navigation, satellite standards.

 

 

№1 2018

 

RUSSIAN NAVIGATION AND INFORMATION SATELLITE SYSTEM

 

  1. Dvorkin, V. V. Kurshin, A. A. Povalyaev, A. A. Kotyakhov

 

The paper presents the «Russian Navigation and Information Satellite System» project. This system generates signals that contain navigational data on its ground segment and transmits them to users with the help of data relay satellites. Besides the navigational data contained in the signal, the system also relays communicational messages. The authors analyze the premises of this system’s creation, put forward an approximate composition, signal structures and frequency bands for this system.

 

Keywords: GLONASS, GNSS, GPS, combination of navigation and communication, navigation and information satellite system, navigation satellite system, RNISS, SBAS

 

 

 

POTENTIAL CHARACTERISTICS OF THE OPTIMAL FILTERING

FOR THE NAVIGATION SIGNAL CARRIER TRACKING SYSTEMS

 

  1. Voronchikhin

 

This article deals with optimal filtering algorithms for the navigation signal carrier tracking systems. Besides recursive filtering and extrapolation, the optimal filtering contains smoothing which could increase the chances of obtaining the best possible result not only for estimation accuracy but for noise-resistance as well. The paper includes derivation of potential characteristics of accuracy and noise-resistance of smoothing algorithms. In addition, some statistical modelling results are given in the article.

 

Keywords: optimal filtering, carrier tracking, optimal smoothing, noise-resistance

 

 

 

CURRENT STATE AND PERSPECTIVE DIRECTIONS OF DEVELOPMENT

OF RADIONAVIGATION SUPPORT FOR THE MINISTRY OF INTERNAL AFFAIRS OF RUSSIA

 

  1. Dyachenko, S. V. Antufyeva

 

The article provides information on advanced equipment designed in the interests of the MIA of Russia, determines directions of development of the navigation providing of the internal affairs bodies.

 

Keywords: GLONASS, directions of development, internal affairs bodies of the MIA of Russia, navigation equipment

 

 

 

THE APPROACH TO SYSTEM-AGGREGATIVE NAVIGATION SYNTHESIS

FOR AN AUTOMATIC MOVABLE OBJECT

 

  1. Baushev, L. V. Tananikina, V. I. Yakunin

 

The approach to the external (system-aggregate) design of navigation support for an automatic movable object is proposed. This approach is based on the methodology of the targeted processes effectiveness theory. The example is considered and expression for determining the values of the performance indicator, depending on the values of the parameters of the navigation system and the process of its application, is derived.

 

Keywords: external design efficiency, radionavigation system, system-aggregative synthesis

 

№ 2 2018

PRECISION NAVIGATION USING THE ASSISTANCE INFORMATION OF THE SYSTEM FOR HIGH-PRECISION DEFINITION OF GNSS EPHEMERIS AND TIME INFORMATION IN REAL TIME FOR CIVILIAN USERS

 

  1. F. Braginets, I. A. Burdin, V. M. Meshcheryakov, Y. G. Sukhoy

 

The technology of precision navigation using the global system for highly accurate determination of GNSSnavigation and ephemeris-time information in real time for civilian users (1st stage) is described. Assistance information for consumers at stage 1 provides high-precision absolute positioning of consumers with an error (standard deviation) of not more than 0.1 m in the operational mode with the initial initialization, and in a posteriori mode not more than 0.05 m. By 2020, in the second stage, it is planned to improve the precision, respectively, to 0.05 m in the operational mode and to 0.03 m in a posteriori mode. Improving the accuracy characteristics of the system is scheduled through the deployment of its own network of measuring stations on foreign territories, implementation of the high-precision absolute positioning technology, creation of samples of navigation equipment of consumers with specified characteristics, implementation of the delivery of assistance data to consumers through space communication channels.

 

Keywords: accuracy of ephemeris-time information, global network of measuring stations, global navigation satellite systems, global system for precision navigation in real time, precise point positioning.

 

 

SPECIAL FEATURES OF SIMULATION OF GNSS NAVIGATION FIELD IN AN ANECHOIC CHAMBER

 

А. Frolov, A. Kaverin, V. Pudlovskiy, Yu. Butich

 

The authors of the article consider the application features of semi-field testing of GNSS navigation field for estimation of accuracy characteristics of anti-jamming GNSS receivers and GNSS attitude reference systems. The requirements for the simulation scenarios needed for an anechoic chamber are set. The estimation of the systematic error in measuring of the carrier phase differences is presented due to the effect of the «proximity» of the signal emitter in the chamber, which affects the accuracy of the attitude determination in the testing of the attitude reference systems.

 

Keywords: anechoic chamber, anti-jamming, attitude reference system, global navigation satellite systems, GNSS receiver, navigation equipment, semi-field test.

 

 

REVIEW AND ANALYSIS OF THE LINES OF DEVELOPMENT OF STRAPDOWN INERTIAL NAVIGATION SYSTEMS ON THE BASIS OF HEMISPHERICAL RESONATOR GYROSCOPES

 

  1. Ye. Perelyaev

 

The article presents an analytical review of the main lines of design and development of hemispherical resonator gyroscopes (HRG), strapdown inertial navigation systems (SINS), and position reference systems based on HRG. The authors analyze the studies of head researchers at Delco Electronics (Northrop Grumman afterwards), USA, Sagem (Safran afterwards), France, Charles Stark Draper Laboratory at the Massachusetts Institute of Technology, USA, and of other Russian and foreign researchers and developers.

 

Keywords: angular velocity sensor, AVS, gyro, hemispherical resonator gyroscope, HRG, navigation, SINS, standing wave.

 

 

EFFICIENCY IMPROVEMENT OF UNDERWATER WORKS USING AUTONOMOUS UNMANNED UNDERWATER VEHICLES WITH INTEGRATED NAVIGATION SYSTEM

 

  1. S. Amiragov, D. A. Antonov, L. A. Kolganov, E. L. Chekhov, I. A. Shavirin

 

The article gives a review of the role that autonomous unmanned underwater vehicles (AUUV) with integrated navigation systems play in the development of the ocean. Performance specifications of AUUV, designed by the Experimental Design Bureau of Oceanological Engineering, similar domestically produced vehicles, and the factors that determine the advantage of using it in comparison with traditional systems are presented. Possible ways of AUUV application are suggested using an example of mapping tasks and pipeline condition inspection. The composition and structure of integrated navigation system, as well as that of integrated information processing algorithms, are suggested.

 

Keywords: application, autonomous, AUUV, mapping, inspection, integrated navigation system, underwater, vehicles.