Applying the Geodetic Adjustment Method for Positioning in Relation to the Swarm Leader of Underwater Vehicles Based on Course, Speed, and Distance Measurements

The research consisted of simulating the movement of a single vehicle in relation to the swarm leader on a square-shaped path, taking into account measurement errors characteristic of typical cheap navigation devices and the hydroacoustic system. The research showed that these methods allow for estimating position coordinates with an accuracy of about 0.5 m (RMS) in the case of a calibrated navigation system and about 3.6 m (RMS) in the case of a non-calibrated navigation system. It also showed that it can provide a higher accuracy of estimating position coordinates in terms of abeam angles of the swarm leader (relative bearing equal to approximately +/- 90 degrees), as well as while ensuring minimizing systematic errors values and proper estimation of mean errors values concerning course and speed measurements.