Solving the problem of the emergency homing of the underwater vehicle in arctic conditions

The paper considers the problem of improving the reliability of the hardware and software of autonomous unmanned underwater vehicles. The aim of the work is to investigate and develop methods for emergency homing of the AUV to the source of the reference signal using minimal input data. The idea is proposed of estimating the speed of the source and receiver approach by analyzing the deviation of the navigation signal frequency on the receiving side caused by the Doppler effect. It is shown that the solution of the homing problem can be built on the basis of an analysis of the data on the mutual approach velocity of the signal source and the receiver. The homing method on the basis of the extreme control system is developed, whose task is to maintain the maximum speed of the vehicle approaching to the beacon during its movement. The developed method is implemented in the program code and tested by a series of numerical experiments using data from field studies. During the simulation it was established that the proposed solution successfully solves the task of homing the vehicle to the beacon at any initial values of the bearing angle.