Observation error estimation in case of an AUV using a single beacon acoustic positioning system

The paper considers the problem of calculating the coordinates of an autonomous unmanned underwater vehicle (AUV) in single beacon systems. The aim of the study is to estimate the error of modern observation methods. The general problem of computing the vehicle position in a single beacon system is presented and approaches to its solution are considered. Two methods for determining the vehicle position are given: a method using an algorithm for determining coordinates on the basis of the Extended Kalman filter, the idea of which is to correct the data of the dead reckoning system according to the measured distances from the beacon to the AUV; and a method using an algorithm based on the particle filter, in which the estimation of the AUV coordinates is made by probabilistic analysis of a certain number of supposed positions. The error of the methods is estimated using the experimental data for different distances covered by the vehicle. As a result of the research, recommendations on the practical application of the examined methods were defined.