Method for ensuring navigation safety for an autonomous uninhabited underwater vehicle

Nowadays, underwater robotics is developing very fast. In particular, unmanned underwater vehicles are the most common because they can be used to reach hard-to-reach places with minimal human intervention. Navigation plays an important role in modern robotics, especially when it comes to autonomous underwater vehicles. Currently, to solve navigation safety problems, active sonars are used, equipped with a receiving antenna, a receiver and a special emitter, while the emitter itself must rotate in the desired direction. The goal of this work is to develop a method for ensuring navigation safety for an autonomous underwater vehicle using a spatio-temporal signal. A model for the formation of a spatio-temporal signal, as well as expressions for implementing this method, are presented. The bearing resolution was also assessed. The results obtained were verified by simulation in MATLAB at various signal-to-noise ratios.