Triangulation method correction algorithms for precise AUV position determination

Purpose of this work is exploration and development of methods and algorithms of computation of the position of autonomous unmanned underwater vehicle with the use of acoustic navigation systems. In implementation of this work detailed analysis of a triangulation method which revealed its disadvantages and their causes was carried out. A correction algorithm is developed on the basis of data analysis of distance to all supporting beacons. The considered algorithms and methods were realized in a program model and checked by the series of numerical experiments.