Using sonar images to determine the position of underwater vehicles underwater navigation sonar hydrography

The article presents the results of research on the use of so-called “comparative” methods for determining position in underwater vehicle navigation. These methods are characterized by autonomy and can be used underwater where the possibility of using other positioning methods is limited. The basis for the research was sonar images of the seabed obtained through computer simulation. Underwater vehicles are unmanned or manned devices adapted to move in the water column, with or without their own propulsion, controlled remotely or automatically. They constitute a mobile mounting platform for various onboard devices, thanks to which they can perform various tasks, such as: inspection of underwater objects, scientific research, rescue operations, supporting diver work, military operations, etc.
To perform these functions, it is necessary to determine the coordinates of the underwater vehicle’s position in the water column.
The primary method for determining position underwater is dead reckoning, i.e., so-called dead reckoning navigation.
Systems using this method include INS (Inertial Navigation System). It provides excellent results due to the use of modern sensors measuring acceleration in all directions. The use of three accelerometers at short intervals allows for precise position determination. Unfortunately, over time, the position error increases rapidly. Therefore, the use of other methods and systems is required. These include hydroacoustic positioning systems. These systems are divided into: Ultra Short BaseLine (USBL) systems, Short BaseLine (SBL) systems, and Long BaseLine (LBL) systems. In these systems, the distance differences between the receiving antennas of individual transducers and the transmitting antenna of the transponder placed on the underwater vehicle are used to determine the position.
In designing new systems, the goal is for them to have the feature of autonomy, i.e., independence from external sources of information. This is possible, for example, (…)

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