CONTROL THE MOVEMENT OF AUTONOMOUS UNMANNED UNDERWATER VEHICLE WITH A TOWED MAGNETOMETER
Traditionally, bottom magnetic surveying is performed during towing the magnetometer by the ship with considerable length of the communication cable. This method is high costed and has significant limitations due to risks of equipment loss at adverse weather conditions. At the same time, the magnetic field created by on-board equipments excludes possibility of installing a precision magnetometer in an underwater vehicle. To achieve the maximum accuracy of the magnetic survey, it is required to tow the measuring equipment at some distance from the vehicle, depending on its length. The article shows study results of effect of the towed magnetometer on the motion parameters of an autonomous uninhabited underwater vehicle. The method developed by the authors for calculating the force effect of towed equipment on a vehicle in cruising and maneuvering modes along standard trajectories is presented. The mathematical model of disturbances by towing of a magnetometer is determined. This model is based on an analytical representation of simulation results of stationary modes of motion. The structure of vehicle motion controller proposed in the article allowsto effectively compensate perturbations from a towed equipment. The motion modelling results of an underwater vehicle with a towed magnetometer is proposed. The usefulness of the method obtained in the work was confirmed during the performance of a marine magnetic survey of the area of the submarine fiber-optic transmission line in the Sea of Okhotsk.