This paper is devoted to the navigation of an autonomous underwater vehicle (AUV) with a mobile hydroacoustic beacon, which is transported by an autonomous surface vehicle (ASV). Two algorithms for AUV position estimation on base of data from the onboard reckoning system and а synthetic long base line acoustical positioning system (APS) were considered. The first algorithm is based on the discrete Kalman filter and the second uses the particle filter. Some simulation results of the algorithms operation are supplemented. Keywords-autonomous underwater vehicle, single beacon navigation, mobile hydroacoustic beacon, autonomous surface vehicle.I.

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