Estimation of Coordinates of Mobile Marine Robots Using Vector-Scalar Antennas Permanently Installed in a Waveguide

An experimental verification of the possibility of estimating the coordinates of a mobile marine robot using small-sized vector-scalar antennas spaced apart in space, a broadband emitter placed on board the robot, and a remote polyharmonic permanently installed emitter – a “beacon”, which is used to eliminate bearing shifts caused by rotation receiving antennas under the action of underwater currents. It is shown that the use of technical means installed in the waveguide makes it possible to solve the triangulation problem and determine the horizontal coordinates of the robot, while taking into account the ray structure provides an estimate of the depth.