Studies of precise positioning in Autonomous Underwater Vehicle navigation

Autonomous Underwater Vehicles plays specific role in underwater investigation. A crucial barrier for it remains the possibility of precise determination of their position in submersible state. Commonly used radionavigation systems do not work in such circumstances. There are other systems, still not accurate, too much expensive or difficult to deploy into specific place. Many authors discussed different methods and techniques for such application in particular Kalman Filter, Concurrent Mapping and Localization Algorithms etc. Objective of the paper is the idea of AUV navigation which consists of two phases: firstly a trip of AUV along pre-planned route and secondary that transformation of collected data in post-processing mode with modern adjustment methods.