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• DEVELOPMENT AND ANALYSE VISUAL NAVIGATION SYSTEM FOR AIR AND GROUND-BASED ROBOTS

  V. P. Noskov, Y. S. Barichev, О.P. Goydin, А.N. Kuryanov

  2025-04-27

  Abstract ▼

  The work is devoted to solving urgent problems of joint autonomous visual navigation for air and
  ground-based robots in urbanized environments. These environments are highly demanded for special
  operations, including dense urban areas and buildings, where the use of traditional remote control devices
  is limited due to the presence of shielded areas. The proposed solution addresses group navigation tasks
  based on data from onboard vision systems during operational reconnaissance of the working area by an
  unmanned aerial vehicle (UAV). The results of this reconnaissance enable autonomous movement and
  flight, both for individual heterogeneous robotic systems and for groups.The navigation algorithms are
  based on methods for extracting a horizontal reference surface and horizontal sections of the external
  environment from a volumetric point cloud generated by an onboard lidar. These methods allow for the
  precise and rapid determination of all six coordinates of the control object. Cases where the navigation
  task cannot be fully solved due to specific environmental characteristics are also considered. To address these challenges, methods are proposed to enhance lidar rangefinding data by integrating video camera
  data. An accuracy assessment of the video navigation solutions is provided, obtained through mathematical
  modeling of the external environment and the generation of video data. To ensure safe autonomous
  flight and movement of robotic systems in urban environments, methods for reducing video navigation
  errors are proposed. These methods utilize a specially designed bank of reference images with known
  coordinates of their formation. The effectiveness of the applied methods and the proposed video navigation
  algorithms is confirmed by experimental studies of the corresponding software and hardware in real
  urbanized environments

• CLASSIFICATION OF RADAR IMAGES OF MULTI-ROTOR UNMANNED AERIAL VEHICLES USING THE YOLO11 ALGORITHM

  V.А. Derkachev

  171-180

  2025-07-24

  Abstract ▼

  This article discusses a classifier of radar images of unmanned aerial vehicles based on a neural network built on the YOLO algorithm version 11. Solving the problem of detecting and classifying unmanned aerial vehicles has become one of the priority tasks at present. The increase in the number of modifications of unmanned aerial vehicles greatly complicates the use of statistical classification methods, which requires the use of new approaches to solving the classification problem. The development of neural network methods, simultaneously with an increase in the performance of computers for training, on the one hand, and embedded solutions, on the other, allows for the classification of aircraft using radar images in real time. The use of the YOLO11 algorithm allows, in addition to determining the class of the target, to estimate the range to the observed object. The use of radar images is justified due to the fact that visual observation is not always possible due to difficult weather conditions and darkness. To train the neural network, it is proposed to use a set of radar images obtained using the author's model of data generation with an arbitrary configuration of unmanned aerial vehicles. The neural network of the Detection YOLO11s class (9.4 million parameters) was trained on a sample of radar images of two classes, a total of 8192. As a result of training, an accuracy of 0.99 was obtained for classification in 2 classes of objects (on test model data). Tests were conducted using natural data taken using the TI IWR1642 millimeter-range radar system, as a result of which error-free classification of objects on a small sample was achieved

• DIGITAL SIGNAL PROCESSING IN A PASSIVE MULTI-POSITION RADAR, CREATED ON THE BASIS OF THE UAV GROUPING

  I.I. Markovich, Е.Е. Zavtur, А.I. Panychev

  6-17

  2025-08-04

  Abstract ▼

  The expediency of creating a passive multi-position radar based on a grouping of unmanned aerial vehicles is substantiated. The variant of building of such radar is proposed, the main tech-nical problems of the sonar developing are evaluated and possible ways to overcome them are considered. It is shown that for detecting aerial targets and determining their coordinates from the radio emission of on-board equipment, the difference-rangefinder method is the most promis-ing as it does not depend on signal modulation and is potentially resistant to interference. For small-sized UAV for transmitting information over open radio channels, the typical frequency ranges are 2.4 and 5.0 GHz. A block diagram of a passive multi-position radar has been devel-oped, including digital shapers of the quadrature components of the received signal, blocks for detecting and determining the coordinates of the target. The main parameters are calculated and analytical expressions of digital signal processing algorithms for detecting and determining the coordinates of the target are given. A stroboscopic effect is used in the digital quadrature compo-nent shaper, which allows for bandpass signals to select the sampling frequency not by the upper boundary frequency of the spectrum, but by its width, which significantly reduces the requirements for the performance of the ADC and the DSP devices following it. The complex envelopes of the detected signals are generated by the method of digital generation in the time domain using digital low-frequency filters. The detection of signals is performed by an energy detector, the advantages of which are simplicity of implementation and operability in the absence of a priori information about the received signal. To determine the coordinates of the radio source, signal delays are calculated between pairs of signals received by three UAV from a multi-position radar, which are determined by the maximum modulo values of the mutual correlation functions of the signals in these pairs. It is shown that the proposed algorithms are well adapted to the processing of possible sources of radio emission on board small-sized UAV. It is established that the required perfor-mance of the radar computer for real-time operation does not exceed 84.62 GFLOPS. The design of an on-board antenna module of a passive multi-position radar in the form of a microstrip re-configurable antenna, tunable in frequency and polarization, is proposed.

• AUV MOTION CONTROL FOR RECOVERY ON THE ROUTE TRAJECTORY IN THE OCCURRENCE OF FAILURES

  L.A. Martynova, M.B. Rozengauz

  2022-03-02

  Abstract ▼

  The aim of the research is to return the autonomous underwater vehicle to the route trajectory
  as soon as possible after the observation in the event of failures in the actuators that ensure
  the movement of the vehicle. The need to solve the problem is due to the fact that when the device
  overcomes distances of several thousand kilometers, its position deviates from the route trajectory due to the accumulation of the error in the reckoning of coordinates by the onboard inertial navigation
  system. As a result, the apparatus is forced to return to the route trajectory, during which a
  failure may occur in the actuators that ensure the movement of the apparatus. Previously, the
  problem was not considered in this formulation, and the approaches used in similar situations to
  unmanned aerial vehicles turned out to be unsuitable. The most typical reasons that distinguish an
  underwater vehicle from a drone are: the difference in the reasons for deviation from the route
  trajectory (inertial system for the device and the wind for the drone), lack of navigation using signals
  from satellite radio navigation systems and the inability to control its location when returning
  to the route , low maneuverability of the device in comparison with the drone. To solve the problem
  of ensuring the movement of the apparatus to the route trajectory in the event of a failure of
  the executive device, which ensures the movement of the apparatus, it is proposed to choose an
  alternative one from the number of redundant ones instead of the failed one. The choice of a backup
  device is determined, first of all, by the moment created by the device for maneuvering the apparatus
  along the course. At the same time, it is shown that, in view of the limitations on the ability
  of the backup device to provide the apparatus with the required maneuver along the course, it is
  also necessary to choose the trajectory of the apparatus when returning to the route trajectory.
  For this, five possible return methods were analyzed, differing in the dynamics of the course
  change, the length of the path, and the duration of maneuvering. Taking into account the smoothness
  of the course change for each trajectory, the most suitable actuators were determined, capable
  of ensuring the movement of the apparatus along the selected trajectory. The main criterion
  when choosing a trajectory, along with taking into account the limitations, was to minimize the
  distance traveled to the route trajectory in order to save the energy resource of the apparatus.
  After the selection of the actuator and the trajectory of the apparatus for restoration on the route
  trajectory, a sequence of calculations is presented to determine the parameters of the actuator at
  each moment of time throughout the return of the apparatus to the route trajectory. The results of
  the research made it possible to solve the problem of restoring the position of an autonomous underwater
  vehicle on the route trajectory in the shortest possible time in the event of a failure in the
  executive devices that ensure its movement.

• ALGORITHMS OF ELECTRIC NETWORK CONTROL OF A HYBRID POWER SUPPLY SYSTEM OF AUV

  N.K. Kiselev, L.A. Martynova

  2022-03-02

  Abstract ▼

  The aim of the research was to control the electrical network of a hybrid power supply system
  for an autonomous underwater vehicle designed to travel over ultra-long distances over tens
  of thousands of kilometers. To overcome ultra-long distances, the urgent task is to minimize the
  specific consumption of electricity, provided that all consumers are provided with electricity. The
  relevance of the work is determined by the novelty of using a hybrid power supply system in autonomous
  unmanned underwater vehicles, consisting of heterogeneous sources of electricity operating
  on different physical principles. Due to the lack of research to date, related to the control of
  the hybrid power supply system, coordinated with the modes of motion of the vehicle in a wide range of speeds, the problem arose of developing control algorithms for the hybrid power supply
  system. To solve the problem, the reasons for the change in current consumption during the
  movement of the device were analyzed, the necessary conditions for connecting consumers to the
  bus ducts were formed, including providing all consumers with electricity in full, excluding the
  excess of the rated currents of each bus duct with consumption currents, minimizing electricity
  losses when passing through the conductor and through the equipment. In this regard, the possible
  configurations of the construction of the electrical network using conductors and equipment were
  analyzed, and losses on the current conductors and on the equipment used were estimated. Based
  on the results of the research, a graph of consumers' connections to the conductors was formed,
  and to determine the way of connecting each consumer to the energy source through the power
  grid, a connection path was determined that minimizes losses. The problem was formalized as
  finding the shortest path in a graph, and Dijkstra's algorithm was used as a basis to solve it. Based
  on the research results, algorithms were formed for the formation of ways to connect consumers to
  electricity sources through the power grid and an algorithm for controlling the switching of keys
  in the power grid when the consumption currents change. The developed algorithms were implemented
  in software, and a numerical experiment was carried out using a simulation model. The
  results of the experiment showed the correctness of the developed algorithms, and can be further
  used for implementation in the devices under development for moving over ultra-long distances.

• TOP-DOWN VS BOTTOM-UP METHODOLOGIES FOR ADAS SYSTEM DESIGN

  D.E. Chickrin, А. А. Egorchev

  2021-07-18

  Abstract ▼

  Selection of the principal design methodology has a significant impact on final product
  quality, including its evolvability and scalability. The article discusses the features of traditional
  bottom-up and top-down design methodologies in the context of ADAS (driver assistance and automated
  driving systems). Necessity of the combined design methodology is shown due to unacceptability
  of “pure” methodologies for design of this kind of systems. For this purpose, the features
  and limitations of the top-down approach are considered: commitment to maximum compliance
  of the developed system with its requirements; methodological rigor of the approach; difficulty
  of system testing in the process of the development; sensitivity to changes in requirements.
  The features and limitations of the bottom-up approach are considered: possibility of iterative
  development with obtaining intermediate results; possibility of using standard components; scalability
  and flexibility of the developed system; possibility of discrepancy of functions of subsystems
  to requirements, which may appear only at later stages of development; possible inconsistency in
  development of separate subsystems and elements. The features and factors of ADAS system development
  are considered: increased requirements for reliability and safety of the system; heterogeneity
  of used components. Two stages of ADAS-systems development are distinguished: the
  stage of intensive development and the stage of extensive evolution. The applicability of one or
  another methodology to various aspects of ADAS system development and evolution (such as:
  requirements definition; compositional morphism; scalability and extensibility; stability and sustainability;
  cost and development time; development capability) is considered. A comparison of themethodologies concludes that there are aspects of technical system design and development in
  which there is a significant advantage of one or the other of the methodologies. Only the bottomup
  approach can ensure the proper evolution of the system. However, for complex systems, it is
  critical to define the initial requirements for the system, which can only be achieved using the topdown
  methodology.

• INCREASING THE SEARCH CAPABILITIES OF AUTONOMOUS UNINHABITED UNDERWATER VEHICLES THROUGH THE USE OF MULTI-CHANNEL MAGNETOMETRIC SYSTEMS

  N.A. Sokolov, A.V. Rychkov

  2021-04-04

  Abstract ▼

  The article substantiates the relevance of solving the problems of searching for unexploded
  ordnance, as well as archaeological and geological surveys in the waters of inland waters and
  coastal zones of the Russian Federation. Using examples of mine clearance operations in the Baltic
  Sea and a detailed magnetometric survey of the Phanagoria water area, the extensive capabilities
  of modern equipment for localization of objects covered by bottom sediments and visually
  invisible on the bottom surface are shown. The advantages of using autonomous uninhabited underwater
  vehicles for the method of searching for ferromagnetic objects based on the registration
  of spatially distributed magnetic anomalies are considered. The directions of development of multichannel
  magnetometric search tools are shown. The potential capabilities of multichannel
  magnetometric systems for identifying search objects are revealed. Using the example of the existing
  technology of diving search, it is shown that the rate of exploration provided in this way is
  extremely low even under the most favorable conditions: the best visibility, a gentle slope of the
  bottom with a solid base. At the same time, the time for exploration of a section of the water area
  by diving along one shore will be about 5 hours in favorable conditions, and, therefore, this method
  cannot be used when examining large water areas. Taking into account the level of technology
  achieved at the present stage, it is proposed to use autonomous uninhabited underwater vehicles
  with a multi-channel magnetometric system installed as a target load for automating underwater
  operations. In addition to automating the process of performing tasks, the use of uninhabited underwater
  vehicles will either completely eliminate or significantly reduce the dangerous impact on
  humans of measures to search for unexploded ordnance and harmful factors of deep-sea operations,
  as well as reduce material and time costs by reducing operations for servicing diving
  equipment. Processing the survey results and creating a map of magnetic anomalies will allow you
  to identify structures whose geomagnetic properties are markedly different from the natural magnetic
  background. Such a technique can significantly increase the information content and reliability
  of the results of the survey of water areas, providing the identification of visually invisible
  objects that have their own magnetic field. Based on the theory of the electromagnetic field and
  magnetostatics, a method for calculating the parameters and efficiency of the multichannel
  magnetometric system for uninhabited underwater vehicles has been developed. The method is
  designed to evaluate the parameters and capabilities for detecting ferromagnetic objects and to
  make a preliminary assessment of the search efficiency. As a criterion (achieving a positive result
  of evaluating the parameters and efficiency of the multi-channel magnetometric system), in accordance
  with the IMAS Mine Action Standards, the following condition is accepted: detection of
  an object of a certain type at a given depth. The influence of the above data on the solution of the
  problem was evaluated as a result of computer simulation in the software environment of the computer-
  aided design system MathCAD with further visualization of the results.

• MACHINE LEARNING MODEL OF SWARM EVASION FROM THE INFLUENCE OF ANTAGONISTIC ENVIRONMENT

  V. К. Abrosimov, G.А. Dolgov, Е. S. Mikhailova

  6-19

  2025-04-27

  Abstract ▼

  One of the priority areas of group control theory for the near future is swarm control of groups of
  small unmanned aerial vehicles - micro-, mini- and nano-classes, performing a collective task under enemy
  influence. Here, two antagonistic strategies collide - minimization of losses from the point of view of
  the attacking swarm and maximization of such losses from the point of view of the defense system. Research objective: development of an approach to solving a practical problem - penetration of a swarm of
  unmanned aerial vehicles into an object protected by a defense system. The objectives of the study were to
  analyze the characteristics of the factors influencing the processes of detection, tracking, recognition of
  swarm intentions by the defense system and the development of a machine learning model for creating
  spatio-temporal formations that minimize the number of swarm elements affected by the defense system.
  The main parameters of the defense system are the detection range and duration of swarm recognition, the
  time to make a decision on the actions of the swarm, the size of the zone of destruction of defense means.
  The method of machine learning on convolutional neural networks with reinforcement was chosen as the
  research method. The counteraction effect against the defense system is created due to the swarm's dynamics;
  it can actively maneuver, creating spatio-temporal maneuvers during the mission. To simulate the
  "Swarm vs. Defense System" situation, a swarm agent (a neural network with a transformer architecture
  that initiates swarm formations) and a defense system agent are introduced that recognizes the swarm and
  attacks it, creating a zone of destruction in the conventional center of mass of the swarm. The swarm is
  guided by a stochastic rule, asking the defense system (environment) to react to its maneuver. The environment
  responds by attacking the swarm, creating a damaging factor at the point where the swarm or the
  main part of the swarm is expected to be. The reward of the swarm strategy is the number of undestroyed
  objects under the conditions of constraints; for the defense system, this "reward" acts as a "punishment".
  An interesting phenomenon was established in the process of machine learning: each swarm element,
  remaining within a given space and implementing the biological principles of swarm control without a
  Leader, independently evades the area of destruction, which together creates a random spatio-temporal
  formation for defense means with minimal losses of swarm elements. Thus, using the method of machine
  learning with reinforcement, a model was created that allows varying the behavior of the swarm and synthesizing
  spatio-temporal formations that complicate detection, tracking, recognition of intentions and
  decision-making on the impact of the defense system on a swarm of attacking small unmanned aerial vehicles,
  as well as significantly reducing their losses.

• ALGORITHM FOR MANEUVERING AN AUTONOMOUS UNDERWATER VEHICLE WHEN NAVIGATING A SHIP THROUGH A MINED AREA

  V.S. Bykova, A.I. Mashoshin, I.V. Pashkevich

  2021-04-04

  Abstract ▼

  One of the tasks assigned to the autonomous underwater vehicles (AUV) is the fight
  against mine danger, which includes: 1) search for and destroy mines in the mined area;
  2) ensure their own safety when passing through the mined area or when working in this area;
  3) ensure the navigation of ships (including submarines) through the mined area. AUV can be
  considered as a further development of mine-fighting equipment, since they have a number of
  advantages over mine-fighting ships: 1) exclude the loss of life in the event of a mine explosion;
  2) have a lower level of physical fields to which the fuses of sea mines react; 3) are able to maneuver
  at the optimal depth for searching and classifying mines. In view of this, the creation of
  specialized AUV to combat the mine danger is very important. The search for mines with the
  help of AUV can be carried out either in the interests of their destruction (clearing the area) or
  for the purpose of guiding ships through the mined area. This article deals with the second
  problem. The description of the maneuvering algorithm of the AUV when ensuring the passage
  of a vessel through a mined area is given. The task is solved by detecting different types of
  mines using hydroacoustic and magnetometric means of searching and classifying underwater
  objects and bypassing of the mines at a safe distance. To reduce the time required to solve the
  task, the detected underwater objects are classified into the "mine-like object" and "other objects"
  classes. The use of the "mine-like object" class, which includes both the actual mines and
  objects that are indistinguishable from mines at the distances of their detection by means of
  mine search, allows you to avoid approaching detected underwater objects at a distance of their
  confident classification using high-frequency sonar and television equipment, and thereby increase
  the safety of the AUV and reduce the time of passage through the mined area. The algorithm
  takes into account the fact that the minimum safe distance between vessel and mine greatly
  exceeds the range of detection of mines of different types that does not allow AUV to find a
  safe vessel passage through the mined area by a single crossing and requires complex maneuvering
  of the AUV. Algorithm is intended for implementation in the AUV control system.

• CAPABILITIES OF VIBROACOUSTIC EXAMINATION AND DIAGNOSTICS OF VEHICLE SUSPENSION

  A.V. Logunov, A.L. Beresnev

  2021-04-04

  Abstract ▼

  The work is devoted to the problem of diagnosing the suspension of vehicles. The problem of
  monitoring the condition of the suspension is now the most urgent due to the constant growth of
  the vehicle fleet and the tightening of requirements for their safe operation. Timely and accurate
  monitoring of the condition of the suspension can prevent the failure of entire vehicle components,
  as well as avoid such serious consequences as a road traffic accident. In the work, modern diagnostic
  tools are considered in detail, the principles of operation, advantages and disadvantages
  are highlighted, the rationale for choosing from the existing methods one that can help most accurately
  and quickly detect a malfunction is presented. With the advent of modern technologies, the
  well-known method for assessing the state of the suspension by sound can become the most advanced,
  since the human factor is excluded, computer technology is used to process the signal, the
  analysis of the sound spectrum in which is carried out using computer technology. The article
  discusses mechanisms that are capable of generating sound signals. The proposed diagnostic
  method makes it possible to single out "useful" sounds from the total number of suspension noises,
  after a comparative analysis, indicate the node whose sound differs from the standard, serviceable
  one. This solution in diagnostics can significantly reduce the overall labor intensity by eliminating
  partial or complete disassembly of the suspension, as a result, despite the simplification, the accuracy
  of fault detection will only increase. The aim of the work is to study the vibroacoustic signals
  emitted by the suspension units. With the help of sensors, the signals are read out, then mathematical
  processing takes place on a computer. As a result of the research, a diagnostic method has
  been developed that allows detecting hidden defects of suspension assemblies and determining the
  degree of wear. The scientific novelty lies in the fact that the diagnostic process becomes automated,
  all signals taken by the sensors are processed in a computer or a special scanner, information
  about the state of certain nodes is displayed on the display, in contrast to existing methods, where
  diagnostics is carried out visually or by ear. thus, it becomes possible to avoid mistakes.

• ORGANIZATION OF THE ELECTRIC NETWORK OF THE HYBRID POWER SUPPLY SYSTEM OF AUTONOMOUS UNDERWATER VEHICLE

  N.K. Kiselev, L.A. Martynova, I.V. Pashkevich

  2021-04-04

  Abstract ▼

  The aim of the study is to organize the power grid of a hybrid power supply system for an autonomous
  underwater vehicle capable of moving in a wide range of speeds. The need to move the
  autonomous underwater vehicle in a wide range of speeds requires the use of heterogeneous sources
  of electricity operating on different physical principles - storage batteries and electrochemical generators
  using reagents from the reagent storage. In addition, in order to provide consumers with
  electricity with the required parameters (currents, voltages, volumes of electricity), it is necessary to
  use additional switchboards, voltage converters, protective switching equipment, keys. The use of
  additional equipment in the power grid allows you to flexibly configure the power grid in order to
  generate energy in an amount consistent with the amount of electricity consumed. On the other hand,
  additional equipment causes losses of electricity in the network, and, accordingly, additional electricity.
  In this regard, the task of determining the option for organizing the power grid, at which the loss
  of electricity would be minimal, is relevant. To solve this problem, the features of the use of additional
  equipment in the power grid were analyzed, the consumption of electricity by an autonomous underwater
  vehicle at different stages of a route assignment was analyzed, the minimum and maximum
  volumes of consumption were determined when an autonomous underwater vehicle moved in different
  speed modes. This made it possible to determine the degree of involvement of heterogeneous
  sources of electricity in the process of performing a route assignment. Based on the results of the
  analysis, alternative options for the power grid were formed. To select the option of the organization
  that ensures the minimum losses of electricity, a target graph of the effect of losses on individual
  devices of the power grid was formed - on the losses of the entire power grid, and using the method of
  distributing tags, quantitative estimates of each of the alternative options were obtained. Teaching
  quantitative assessments made it possible to determine the option of organizing an electrical network
  that minimizes losses. This allows, in turn, to formulate the requirements for the functioning of the
  elements of the hybrid power supply system, to develop control algorithms. In general, the result
  obtained makes it possible to minimize the consumption of energy resources during the movement of
  an autonomous underwater vehicle throughout the entire duration of the route assignment.

• EXPERIENCE IN USING TRAINING SYSTEMS WITH VIRTUAL REALITY ELEMENTS FOR TRAINING SPECIALISTS OF MISSILE FORCES AND ARTILLERY USING ROBOTIC SYSTEMS FOR MILITARY PURPOSES

  A.I. Nagovicin, S.N. Pesterev, B.B. Molotkova, I.V. Aksenov

  2020-07-10

  Abstract ▼

  The paper presents the tasks to be solved by promising RTC VN in the interests of Rvi. The conclusion is formulated that the problem of training and improving the quality of knowledge of Rvi specialists using military robotic systems remains one of the urgent problems of higher mili-tary professional education and acquires new aspects of consideration. It is shown that one of the effective ways to solve the problem of training and improving the quality of knowledge of Rvi spe-cialists is to develop and implement computer-based training systems with elements of virtual real-ity and 3D visualization of the studied samples of equipment and weapons in the educational pro-cess. The main features of the computer information and reference system "compendium of the Rvi" developed at the Mikhailovsky military artillery Academy and used in the educational process are briefly described. Preliminary results of the conducted pedagogical experiment with the use of the "Rvi compendium" are presented, and the main factors that increase the effectiveness of the educational process are Noted. Based on the results of the pedagogical experiment made a rea-sonable inference that the use of KISS "compendium Rvia" allows to increase learning efficiency, to reduce terms of development of technology that is more efficient use of training time and as a result reduce the cost of training and the number of vehicles.

• TRANSFORMER CALCULATION METHOD DEVELOPMENT OF THE AUV CONTACT-LESS BATTERY CHARGING SYSTEM

  V.A. Gerasimov, A.V. Komlev, A.Y. Filozhenko

  2020-07-10

  Abstract ▼

  The method of contactless underwater transmission of electricity to an autonomous under-water vehicle (AUV) for charging its rechargeable batteries has practically no alternative when organizing long underwater operation of the AUV. In such system, transformer with separated primary and secondary parts, which are separated by a constructive non-magnetic gap, deter-mined by the total thickness of the connecting walls, is used. The design and electromagnetic characteristics of the transformer significantly affect the overall system efficiency when perform-ing the main task - battery charge for a given time. The presence of a non-magnetic gap requires a special calculation procedure, for which the initial data should be the values of the AUV position-ing errors when underwater approaching the base, along with the parameters of the batteries charge process. The study task is the justification and development of a methodology for calculat-ing the design transformer parameters that meets the specified operating conditions. The research is based on mathematical modeling of electromagnetic processes in a transformer in the ANSYS Maxwell software package in combination with a full-scale experiment. The determining parame-ters in the form of the magnetic coupling coefficient and the winding relative magnetic permeabil-ity are founded; their use is justified for the complete identification of the studied transformer properties. A system of relative units is proposed in which the characterizing parameters have a constant value for cores connected by certain geometric relationships, which makes it easy to scale the results of the obtained technical solutions when changing the requirements for the transmitted electric power. As a result of research, a method for calculating the main design pa-rameters of transformers is proposed. The initial data in the calculation is taken as a combination of the required transformer electrical characteristics and its geometric relations when the re-quired restrictions are met for the permissible error of AUV automatic mooring to the dock-station. The results obtained apply to transformers with cup ferrite cores and with flat magnetic cores, which make it possible to form magnetic cores of the required sizes and configurations. The result of the calculation is the design of the transformer with electrical characteristics that best suit the conditions of its application. Experimental field studies convincingly confirm the correct-ness of the calculation method.

• THE MATHEMATICAL MODEL OF THE FUNCTIONING OF A HYBRID ENERGY SUPPLY SYSTEM AS PART OF A DEBUGGING AND MAINTENANCE STAND AUV

  N.K. Kiselev, L.A. Martynova, I.V. Pashkevich

  2020-07-10

  Abstract ▼

  The aim of the research is to develop a complex of mathematical models that provide initial data for a mathematical model of the hybrid energy supply system for subsequent integration into the stand for debugging and maintenance. The work is a development of the previously published mathematical model of the functioning of the hybrid energy supply system of an autonomous un-derwater vehicle. In the work, based on the results of the analysis of the goals and objectives of modeling, mathematical models of electric power sources — a storage battery and an electro-chemical generator — are developed. Since control over the operating parameters of the battery and the electrochemical generator depends on the parameters of the vehicle’s movement, addi-tional mathematical models of the marching propulsion engine and the integrated control system of the vehicle have been developed. The external conditions for the functioning of the vehicle and the route task were set in a specially developed tactical situation simulator. Based on the theory of integrated hierarchical modeling with variable resolution, the most appropriate degree of detail of the developed mathematical models was determined. In view of the need to take into account the non-uniformity of gas blowing of fuel elements in an electrochemical generator, the mathematical model is based on solving a non-linear system of equations, including the Navier-Stokes equation, equations of conservation of momentum, energy and charge. When developing a mathematical model of the battery, the uneven charge of individual batteries was taken into account; The math-ematical model took into account the parameters of individual batteries according to their manu-facturer. The simulation results were the charge-discharge characteristics of the battery. In the mathematical model of the main consumer of electricity - the marching propulsion - the depend-ence of the generated thrust on the required speed of the vehicle is implemented, which allowed to obtain the amount of electricity consumed by the marching propulsion. In the mathematical model of an integrated control system, depending on the current position of the vehicle, motion control-lers are implemented to form control elements of the propulsion system, providing typical modes of maneuvering the vehicle. In addition, the control of the functioning parameters of the hybrid ener-gy supply system was implemented - switching of electric power sources, switching of battery charge processes. In the mathematical model of a tactical situation simulator, the possibilities of defining a route and external conditions are realized. In addition, a model of the vehicle movement was implemented taking into account the forces and moments acting on the vehicle. The developed complex of mathematical models, which provides the data with a mathematical model of the func-tioning of the hybrid energy supply system, can be used as a part of the stand for debugging and maintenance of an autonomous underwater vehicle.

• METHOD FOR INFORMATION INTERACTION BETWEEN AN OPERATOR AND AN AUV EQUIPPED WITH A HYDROACOUSTIC COMMUNICATION CHANNEL FOR TARGET OBJECT IDENTIFICATION

  А.Y. Konoplin , А.P. Yurmanov , А. Y. Rodionov , R.P. Vasilenko , М.О. Panchuk

  2026-04-29

  Abstract ▼

  The execution of inspection and manipulation operations by autonomous unmanned underwater vehicles (AUVs) under operator supervision is limited by the low bandwidth of the hydroacoustic communication channel, which does not allow the transmission of video streams and high-quality photographic images in real time. At the same time, existing methods for automatic recognition of target objects by onboard machine vision systems of AUVs do not guarantee accurate determination of the object’s position and shape when defects are present on its surface (siltation, biofouling, mechanical damage). To address this problem, the paper formulates the task of developing a method that enables information interaction between the operator and the AUV via a low-bandwidth hydroacoustic communication channel. This interaction allows the operator to evaluate the quality of target object recognition and subsequently generate target designations for the vehicle and its onboard manipulator. The proposed method is based on an algorithm for identifying objects with defects, which employs a modified ICP point cloud registration approach with the exclusion of defective regions and characteristic features (CFs). The detected CFs and defect regions are transformed into a compact set of geometric primitives transmitted to the operator through the hydroacoustic communication channel with the AUV. Based on the received information, incoming telemetry from the AUV, and a reference three-dimensional model of the object, the graphical interface visualizes the scanned scene, allowing the operator to assess the recognition accuracy. Full-scale experimental tests of the method were conducted using a hydroacoustic modem manufactured by the Institute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of Sciences (IMTP FEB RAS) and an onboard computer NVIDIA Jetson TX2. The information packet transmitted within
  1 minute contained the object type, its position, a defect map, and the coordinates of the characteristic features, with a data volume three orders of magnitude smaller than that required for transmitting the full point cloud of the scanned object. Based on the received information, the operator confirmed successful object identification even when up to 30% of the surface area was covered by defects. The practical significance of the proposed method lies in enabling the execution of critical missions under operator supervision in conditions of environmental uncertainty

• QUANTITATIVE ESTIMATES OF THE ERROR IN MAINTAINING THE FORMATION OF UNDERWATER VEHICLES WITH DELAYS IN NAVIGATION DATA

  А.N. Karkishchenko

  212-226

  2026-09-10

  Abstract ▼

  The influence of delays in receiving navigation information on maintaining a formation of underwater vehicles in the leader-followers mode is studied. The study is based on the assumption of a gradient principle of formation control during movement. The complexity of the problem is due to the unknown trajectory of the leader, incomplete knowledge and non-stationarity of the environment, and measurement errors. The obtained results are independent of the configuration of vehicles in the formation. It is shown that it is sufficient to study the influence of navigation delays on the motion of a single vehicle. Key assumptions: the trajectory of the leader is unknown; all interactions between the leader and follower vehicles are synchronized; the leader transmits its coordinates to the other vehicles at a certain frequency; displacements of the follower from its position in the formation can occur in any spatial direction. It is assumed that between receiving data on the leader's position, the follower vehicle moves in a straight line in a direction that can be chosen in many ways. One option for choosing such a direction is considered, and a mathematical model of the motion is constructed. Since the moment of information receipt is unknown, a nonlinear law is used to describe the follower's motion, taking into account the distance to the target point. Estimates of the vehicle's deviation from the target position in the formation at each moment in time are found, as well as average estimates of its deviation over the time interval between receiving navigation information and over the entire trajectory. An upper bound for the integral deviation is proposed and substantiated, allowing for a simple interpretation of the factors influencing deviation and formation breakdown.

• DIGITAL PLATFORM FOR THE CREATION OF DISTRIBUTED CONTROL AND NAVIGATION SYSTEMS FOR UNDERWATER VEHICLES

  V.F. Filaretov, D.A. Yukhimets, A.V. Zuev, A.S. Gubankov, D.D. Minaev

  2021-04-04

  Abstract ▼

  The paper proposes the architecture of a digital platform for the implementation of distributed
  control and navigation systems of underwater vehicles (UV), that perform technological operations
  in an uncertain environment. The proposed digital platform is designed to automate the
  following activities: monitoring the state of underwater infrastructure objects (communication
  lines, pipelines, mining equipment, etc.), cartographic and geodesic works, determining the parameters
  and boundaries of physical fields, zones of distribution of chemical compounds (pollution
  zones) and bioresources, protection of underwater and surface infrastructure objects (underwater
  mariculture farms, borders of water reserves, etc.), tracking moving objects, searching for objects
  of a given type (biological, man-made, etc.), performing underwater technological operations
  (welding, cutting, cleaning, etc.). For this platform, a command system has been developed that
  provides flexible assignment of various types and purposes of UV missions. There are five types of
  digital platform messages: mission order management commands, mission load management
  commands, information messages, mission and group control commands. The concept of building
  distributed control systems of the UV is proposed, which ensures the compatibility of existing onboard
  UV systems with the proposed solution based on the combined hydroacoustic systems of
  global hydroacoustic navigation developed in PAO "Dalpribor" (Vladivostok). These control systems
  consist of two main parts. The first part is the initial on-board information and control system
  of the UV, which ensures its movement to a given point in space at a given speed, receiving
  data from on-board sensors, as well as controlling the operation of on-board equipment. The second
  part – the high level control system, provides the possibility of interaction of the control system
  through an acoustic communication channel with the global hydro-acoustic navigation system
  and the operator's automated workplace. Simulation of the data transfer in CoppeliaSim between
  the operator and the UV within the proposed digital platform have shown that reliable mission
  loading and receiving information about the state of the UV is provided at different speeds and
  under different operating conditions of the acoustic communication channel.