Some algorithms for determining an unknown initial position of AUV using information from a single beacon navigation system

Determination of the unknown initial position of an autonomous underwater vehicle (AUV) using information on the distance to a single mobile hydro-acoustic beacon (MHB) transported by an autonomous surface vehicle (ASV) is discussed. Three algorithms used to solve the problem are described. Some results of the algorithms performance obtained during the sea trials with the use of a marine autonomous robotic complex (MARC), including an AUV and ASV, are considered.