A robotic complex for monitoring the noise situation in shallow waters

Abstract

Proposals for the creation of a mobile robotic complex for monitoring the underwater noise environment in shallow waters are presented, and its verification is carried out as part of a numerical experiment. The complex consists of a group of hybrid autonomous uninhabited underwater vehicles (HAUUV) and a command autonomous uninhabited underwater vehicle (CAUUV). HAUUV, which have vector-scalar receivers on board, carry out holographic processing of noise signals, providing detection and localization of low-noise underwater sound sources by their noise field. CAUUV manages the HAUUV grouping, collects information and transmits it to the control point. Using the example of a group of four HAUUVs and one CAUUV, an algorithm for detecting and localizing a noise source by a robotic system against a background of interference is described. The error of restoring the source parameters is estimated. The results of numerical simulation are presented.