METHOD OF REDUCING ESTIMATION ERROR OF EIGEN COORDINATES OF SELF-CONTAINED UNMANNED UNDERWATER VEHICLE WITH INERTIAL NAVIGATION SYSTEM

摘要

FIELD: physics, navigation.SUBSTANCE: invention relates to navigation and can be used to locate and control movement of self-contained unmanned underwater vehicles with an inertial navigation system and computer vision equipment. To achieve the result, during movement of a self-contained unmanned underwater vehicle on a given trajectory, one or more a priori unknown fixed underwater objects identified by computer vision equipment are selected; coordinates of said objects are estimated and the position of said vehicle during further movement is specified from the obtained data.EFFECT: high accuracy.