The development of system of accommodation to faults of navigation sensors of underwater vehicles with resistance to disturbance

In this paper, a new approach for synthesis of system of accommodation to faults of navigation sensors of underwater vehicles (UV) is developed and investigated. Proposed system is synthesized by using kinematic model of UV and data fusion of sensors signals. The advantage of this approach is that it allows detecting and isolating faults in sensors of UV and operatively to compensate their effects at performance of underwater missions in unknown environment with unknown external disturbances, including noised sensor signals.