Doppler measurements application analysis to identify motion parameters from observations with random delays

The moving object positioning problem statement uses a model of a stochastic dynamic observation system with random time delays between the subsequent observation and the actual state of the object and the presence of unknown motion parameters. For such a model, using the example of an underwater vehicle (UV), the variants of the observation formation are analyzed. The first uses only stationary acoustic sensors which allow measuring only angular coordinates. In the second variant, the measurements are supplemented by velocity measurements performed both on board the moving object and by external observers. Each model is used in two ways: assuming that there is complete a priori information about the parameters of the UV movement and in the absence of data on the values of some of the parameters. In the latter variant, the positioning problem is solved in conjunction with the task of unknown motion parameters identification. The models and the results of their experimental application are compared in order to qualitatively assess the effectiveness of using velocity measurements. To do this, a conditionally minimax nonlinear filter is applied to the problem. A comparative analysis of the models of the observation system was performed as a part of a large-scale computational experiment.