Modelling Motion Of Autonomous Underwater Vehicle With Side Scan Sonar For Sea Bottom Scanning

The paper investigates the problem of modelling the motion of an Autonomous Underwater Vehicle (AUV), which transfers Side Scan Sonar (SSS) for sea bottom scanning, e.g. to search Unexploded ordnance (UxO). Moreover, it includes a proposed model of SSS, which was optimized to provide less time-consuming operation, especially when the optimized desired trajectory of AUV is searched. Moreover, the paper includes the results of the proposed model operation in terms of obtained accuracy and time of calculation. The numerical research was conducted for differrent desired trajectories.