Estimating the Coordinates of Mobile Marine Robots Using Vector–Scalar Arrays Permanently Installed in a Waveguide

An experimental verification of the possibility of estimating the coordinates of a mobile marine robot using spatially offset small-sized vector–scalar arrays, a broadband source placed on board the robot, and a remote polyharmonic permanently installed source—a beacon, which is used to eliminate bearing shifts caused by rotating receiving arrays 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 a depth estimate.