The Problems of ROV Navigation Near Seafloor
A0142Rosenbaum Pyotr Naumovich Far-Eastern State Technical University
A0143Kislitsin Dmitry Vyacheslavovich Far-Eastern State Technical University
A0144E.M. Titov Far-Eastern State Technical University
The known modes of navigation on a contour of bottom do not give a
necessary exactitude of positioning ROV. In the report represented on
the internationalconference UT2000 the probable directions of a
research of this problem as navigation ROV on a stratified structure
of a ground were shown. In the present report the theoreticaland
experimental calculations on navigation ROV on an equal ground are
offered, basing on it an interior stratified structure.
For navigation in work  it is offered to build a map of values of
factors of a reflection of an acoustic energy of a ground surface in
an assotiation from geographical coordinates - digital map of bottom,
in view of a spherical divergence of a wave, for this purpose it is
required to know a complex value of pressure in an incident and
reflected wave. For a construction of such map
гидролокаторshould radiate to bottom acoustic premises,
and then to accept them to measure amplitude radiated and accepted
(reflected from bottom) premise, and also the shift of phases between
them, because of of measured values pays off a value of factor of a
reflection in the given point.The obtained map of bottom will contain
a complex value of factor of a reflection for each point of bottom of
a reservoir, where the shooting of a map is produced.
For the definition of the location on such map the underwater means
shouldhave the same complex of an equipment, as at removal of a map to
measure factor of a reflection of a ground surface in a point, where
it is, and on the measured value, according to a map to determine what
geographical coordinates correspond to given factor of a reflection,
and has not a value, on what depth the given means is.
The offered system of navigation will be useful to underwater meanses
conducting work and underwater researches.
1.V.I.Korochentsev, A.N.Rosenbaum, B.V.Okhota ≪Navigation of
underwater autonomous vehicles≫ in ≪ Proceedings of the 2000
International symposium of underwater technology≫, 23-26 May,
2000, Tokyo, Japan.