Effective Retention of AUV Position on Route Trajectory during Seismic Survey
Abstract
Introduction: during subglacial seismic survey, autonomous underwater vehicles can deviate from the route trajectory due to currents and other random non-stationary factors. To maintain an effective survey, it is necessary to permanently keep the device on the route trajectory. Purpose: Developing a method for effective retention of an AUV on a route trajectory. Method: An AUV which has deviated from the route trajectory is sent back to it by a method of aiming at the target, which uses the sight line deflecting angle. Results: Mathematical dependencies of the deviation from the route trajectory were obtained. A method of restoring the device on the route trajectory was developed and modified in order to take into account the limitations on the maneuvering characteristics of the device. A mathematical model was built, and parameterization of the proposed method was conducted on the basis of seismic survey efficiency evaluation. The simulation results made it possible to determine the parameters of the method used to hold an AUV on the route trajectory, taking into account the distance between the waypoints, the restrictions on the device rotation speed and the permissible deviation from the route trajectory. Practical relevance: The developed method allows you to efficiently restore the position of an AUV on the route trajectory, taking into account the limitations and peculiarities of conducting a seismic survey in a given area.Published
2018-06-01
How to Cite
Martynova, L. (2018). Effective Retention of AUV Position on Route Trajectory during Seismic Survey. Information and Control Systems, (3), 34-44. https://doi.org/10.15217/issn1684-8853.2018.3.34
Issue
Section
Information and control systems