{"id":10311,"date":"2026-04-06T17:00:36","date_gmt":"2026-04-06T16:00:36","guid":{"rendered":"https:\/\/izvestiyakbncran.ru\/?page_id=10311"},"modified":"2026-04-10T08:55:58","modified_gmt":"2026-04-10T07:55:58","slug":"25-6-18-en","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/","title":{"rendered":"25.6.18 En"},"content":{"rendered":"\n

Methods and technical means of positioning and navigation of robots in the aquatic environment<\/strong><\/h1>\n\n\n\n

V.N. Le, A.L. Ronzhin<\/strong><\/p>\n\n\n\n

<\/p>\n\n\n\n

\n\n\n\n
\n

Upload the full text<\/strong><\/strong><\/p>\n\n\n\n

\n
\n
PDF<\/a><\/div>\n<\/div>\n\n\n\n
<\/div>\n<\/div>\n<\/div>\n\n\n\n

Abstract<\/strong>.<\/strong> <\/em>The issues of positioning and navigation of robots in the aquatic environment are discussed using traditional inertial and acoustic approaches, surface GPS buoys, technical vision systems allowing for obtaining relative coordinates of the robot’s position in the reservoir and planning a route to the target. The complex and changing environment imposes additional constraints, necessitating the use of alternative SLAM methods and the interaction of multiple robots. Fusion of information from multiple sensors of different types or robots enhances the accuracy and reliability of positioning, allowing avoidance of collisions and conflicts on routes. The discussed approaches, applied technical means, and information processing methods are presented in the form of classifications.<\/p>\n\n\n\n

<\/p>\n\n\n\n

Keywords<\/strong>:<\/em><\/strong> robotics, navigation, positioning, SLAM, underwater vision, hydroacoustic, group control of robots<\/p>\n\n\n\n

<\/p>\n\n\n\n

For citation<\/strong>.<\/strong> Le V.N, Ronzhin A.L. Methods and technical means of positioning and navigation of robots in the aquatic environment. News of the Kabardino-Balkarian Scientific Center of RAS<\/em>. 2023. No. 6(116). Pp. 167\u2013178. DOI: 10.35330\/1991-6639-2023-6-116-167-178<\/p>\n\n\n\n

<\/p>\n\n\n\n

R<\/strong>eferences<\/summary>\n
    \n
  1. Morozov R.O., Gorely A.E., Ryzhov V.A. Intelligent navigation and planning systems for AUVs. Morskiye informatsionno-upravlyayushchiye sistemy<\/em> [Marine information management systems]. 2021. Pp. 34\u201343. (In Russian)<\/li>\n\n\n\n
  2. Nicosevici T., Garcia R., Carreras M., Villanueva M. A review of sensor fusion techniques for underwater vehicle navigation. Oceans’-04. MTS\/IEEE Techno-Ocean ’04 (IEEE Cat. No. 04CH37600).<\/em> 2004. Vol. 3. Pp. 1600\u20131605. DOI: 10.1109\/OCEANS.2004.1406361<\/li>\n\n\n\n
  3. Borkowski P. The ship movement trajectory prediction algorithm using navigational data fusion. Sensors. <\/em>2017. 17(6). P. 1432. DOI: https:\/\/doi.org\/10.3390\/s17061432<\/li>\n\n\n\n
  4. Yuan K., Wang H., Zhang H. Robot position realization based on multi-sensor information fusion algorithm. Fourth International Symposium on Computational Intelligence and Design<\/em>. Pp. 294\u2013297. DOI: 10.1109\/ISCID.2011.81<\/li>\n\n\n\n
  5. Yang Q., Sun J. An underwater autonomous robot based on multi-sensor data fusion. In 2006 6th World Congress on Intelligent Control and Automation<\/em>. Vol. 2. Pp. 9139\u20139143. DOI: 10.1109\/WCICA.2006.1713768<\/li>\n\n\n\n
  6. Kamil F., Hong T. S., Khaksar W. et al. New robot navigation algorithm for arbitrary unknown dynamic environments based on future prediction and priority behavior. Expert Systems with Applications. 2017. Vol. 86. Pp. 274\u2013291. DOI: https:\/\/doi.org\/10.1016\/j.eswa.2017.05.059S<\/li>\n\n\n\n
  7. Gravina R., Afinia P., Ghasemzadeh H., Fortino G. Multi-sensor fusion in body sensor networks: state-of-the-art and research challenges. Information Fusion<\/em>. 2017. Vol. 35. Pp. 68\u201380. DOI: https:\/\/doi.org\/10.1016\/j.inffus.2016.09.005<\/li>\n\n\n\n
  8. Majumder S., Scheding S., Durrant-Whyte H. F. Multisensor data fusion for underwater navigation. Robotics and Autonomous Systems<\/em>. 2001. Vol. 35. Pp. 97\u2013108. DOI: https:\/\/doi.org\/10.1016\/S0921-8890(00)00126-3<\/li>\n\n\n\n
  9. Alcocer A., Oliveira P., Pascoal A. Study and implementation of an EKF GIB-based underwater positioning system. Control Engineering Practice<\/em>. 2007. Vol. 15. Pp. 689\u2013701. DOI: https:\/\/doi.org\/10.1016\/j.conengprac.2006.04.001<\/li>\n\n\n\n
  10. McManus S.J. A method of Navigation using a Modified Ultra Short BaseLine Directional Acoustic Transponder. Oceans 2007 \u2013 Europe<\/em>. 2007. DOI: 10.1109\/OCEANSE.2007.4302343<\/li>\n\n\n\n
  11. Thomson D., Elson S. New generation acoustic positioning systems. Oceans ’02 MTS\/IEEE. <\/em>2002. Vol. 3. Pp. 1312\u20131318. DOI: 10.1109\/OCEANS.2002.1191828<\/li>\n\n\n\n
  12. Krestovnikov K.D., Ershov A.A., Savelyev A.I. Approach to wireless charging of the battery for autonomous unmanned underwater vehicles. Morskiye intellektual’nyye tekhnologii<\/em> [Maritime intelligent technologies]. 2022. \u2116 4\u20131(58). Pp. 144\u2013155. DOI: https:\/\/doi.org\/10.37220\/MIT.2022.58.4.036. (In Russian)<\/li>\n\n\n\n
  13. Savateev N.N. Utilization of satellite navigation systems for determining the location of underwater objects. Informatsionnyye tekhnologii v obrazovanii <\/em>[Information technologies in education]. 2021. Pp. 214\u2013219. (In Russian)<\/li>\n\n\n\n
  14. Spiess F.N., Chadwell C.D., Hildebrand J.A. et al. Precise GPS\/Acoustic positioning of seafloor reference points for tectonic studies. Physics of the Earth and Planetary Interiors<\/em>. 1998. Vol. 108. Pp. 101\u2013112. DOI: https:\/\/doi.org\/ 10.1016\/S0031-9201(98)00089-2<\/li>\n\n\n\n
  15. Thomas H.G. New advanced underwater navigation techniques based on surface relay buoys. Proceedings of Oceans’94<\/em>. 1994. Vol. 3. Pp. 111\u2013395. DOI: 10.1109\/OCEANS.1994.364231<\/li>\n\n\n\n
  16. Aider O.A., Hoppenot P., Colle E. A model-based method for indoor mobile robot localization using monocular vision and straight-line correspondences. Robotics and Autonomous Systems.<\/em> 2005. Vol. 52. Pp. 229\u2013246. DOI: https:\/\/doi.org\/10.1016\/j.robot.2005.03.002<\/li>\n\n\n\n
  17. Carreras M., Ridao P., Garcia R., Nicosevici T. Vision-based localization of an underwater robot in a structured environment. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).<\/em> 2003. Vol. 1. Pp. 971\u2013976. DOI: 10.1109\/ROBOT.2003.1241718<\/li>\n\n\n\n
  18. Liu T., Wan L., Liang X.W. A monocular vision measurement algorithm based on the underwater robot. Applied Mechanics and Materials<\/em>. 2014. Vol. 532. Pp. 165\u2013169. DOI: https:\/\/doi.org\/10.4028\/www.scientific.net\/AMM.532.165<\/li>\n\n\n\n
  19. Mingjun Z., Shupeng L., Xuan L. Research on technologies of underwater feature extraction and target location based on binocular vision. The 27th Chinese Control and Decision Conference (2015 CCDC). IEEE. <\/em>2015. Pp. 5778\u20135784. DOI: 10.1109\/CCDC.2015.7161837<\/li>\n\n\n\n
  20. Jian X., Xiaoyuan C., Xiaoping S., Hang L. Target recognition and location based on binocular vision system of UUV. 2015 34th Chinese Control Conference (CCC). IEEE. <\/em>2015. Pp. 3959\u20133963. DOI: 10.1109\/ChiCC.2015.7260249<\/li>\n\n\n\n
  21. Vyalkov I.K., Timosh P.S. Utilization of SLAM method for indoor navigation using AR technologies. Nauchno-tekhnicheskoye i ekonomicheskoye sotrudnichestvo stran ATR v XXI veke<\/em> [Scientific-Technical and Economic Cooperation of ATR Countries in the 21st Century]. 2023. Pp. 331\u2013333. (In Russian)<\/li>\n\n\n\n
  22. Lugovskoy V.V. SLAM as an Advanced Navigation Method and Its Types. Innovatsionnaya nauka<\/em> [Innovative Science]. 2023. \u2116 4\u20132. Pp. 46\u201349. (In Russian)<\/li>\n\n\n\n
  23. Zhao W., He T., Sani A. Y. M., Yao T. Review of SLAM Techniques For Autonomous Underwater Vehicles. Proceedings of the 2019 International Conference on Robotics. Intelligent Control and Artificial Intelligence. <\/em>2019. Pp. 384\u2013389. DOI: https:\/\/doi.org\/10.1145\/3366194.3366262<\/li>\n\n\n\n
  24. Hess W., Kohler D., Rapp H., Andor D. Real-time loop closure in 2D LIDAR SLAM. 2016 IEEE International Conference on Robotics and Automation (ICRA)<\/em>. 2016. Pp. 1271\u20131278. DOI: 10.1109\/ICRA.2016.7487258<\/li>\n\n\n\n
  25. Dub\u00e9 R., Gawel A., Sommer H. et al. An online multi-robot SLAM system for 3D LiDARs. 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). <\/em>IEEE, 2017. Pp. 1004\u20131011. DOI: 10.1109\/IROS.2017.8202268<\/li>\n\n\n\n
  26. De Freitas C.M. Autonomous navigation with simultaneous localization and mapping in\/outdoor. CMS de Freitas<\/em>. 2020.<\/li>\n\n\n\n
  27. Paul L., Sot M., Leonard J.J. Decentralized cooperative trajectory estimation for autonomous underwater vehicles. 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems<\/em>. IEEE, 2014. Pp. 184\u2013191. DOI:10.1109\/IROS.2014.6942559<\/li>\n\n\n\n
  28. Li Z., Jiang C., Gu X. et al. Collaborative positioning for swarms: A brief survey of vision, LiDAR and wireless sensors based methods. Defence Technology<\/em>. 2023. DOI: https:\/\/doi.org\/10.1016\/j.dt.2023.05.013<\/li>\n\n\n\n
  29. Pan X., Kang F., Wang Y. Cooperative navigation for multi-UUV using relative observations. 2010 3rd International Congress on Image and Signal Processing.<\/em> 2010. Vol. 7. Pp. 3191\u20133194. DOI: 10.1109\/CISP.2010.5647971<\/li>\n\n\n\n
  30. Watson S., Duecker D. A., Groves K. Localization of Unmanned Underwater Vehicles (UUVs) in Complex and Confused Environments: A Review. Sensors, 2020. DOI: https:\/\/doi.org\/10.3390\/s20216203<\/li>\n\n\n\n
  31. Barsha B., Durant-Whyte H.F. Inertial navigation system for mobile robots. IEEE transactions on robotics and automation<\/em>. 1995. Vol. 11. Pp. 328\u2013342. DOI: 10.1109\/70.388775<\/li>\n\n\n\n
  32. Tan H.P., Diamant R., Seah W.K., Waldmeyer M. A survey of techniques and challenges in underwater localization. Ocean Engineering<\/em>. 2011. Vol. 38. Pp. 1663\u20131676. DOI: https:\/\/doi.org\/10.1016\/j.oceaneng.2011.07.017<\/li>\n\n\n\n
  33. Wu Y., Ta X., Xiao R. et al. Survey of underwater robot positioning navigation. Applied Ocean Research<\/em>. 2019. Vol. 90. DOI: https:\/\/doi.org\/10.1016\/ j.apor.2019.06.002<\/li>\n<\/ol>\n<\/details>\n\n\n\n
    Information about the author<\/strong>s<\/summary>\n
    \n

    Le Van Nghia<\/strong>, Specialist’s Degree, Military Research and Educational Center of the Navy \u201cNaval Academy\u201d;
    197045, Russia, St. Petersburg, 17\/1, Ushakovskaya embankment;
    lenghia18071999@gmail.com
    Ronzhin Andrey Leonidovich<\/strong>, Doctor of Technical Sciences, Professor, Director, St. Petersburg Federal Research Center of the Russian Academy of Sciences;
    199178, Russia, St. Petersburg, 39, 14th line of Vasilyevsky Island;
    ronzhin@iias.spb.su, ORCID: https:\/\/orcid.org\/0000-0002-8903-3508<\/p>\n\n\n\n

    <\/p>\n\n\n\n


    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n\n\n\n

    <\/p>\n<\/div>\n<\/details>\n","protected":false},"excerpt":{"rendered":"

    Methods and technical means of positioning and navigation of robots in the aquatic environment V.N. Le, A.L. Ronzhin Upload the full text Abstract. The issues of positioning and navigation of robots in the aquatic environment are discussed using traditional inertial and acoustic approaches, surface GPS buoys, technical vision systems allowing for obtaining relative coordinates of […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"wp-custom-template-home","meta":{"footnotes":""},"class_list":["post-10311","page","type-page","status-publish","hentry"],"yoast_head":"\n25.6.18 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/\" \/>\n<meta property=\"og:locale\" content=\"ru_RU\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"25.6.18 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"og:description\" content=\"Methods and technical means of positioning and navigation of robots in the aquatic environment V.N. Le, A.L. Ronzhin Upload the full text Abstract. The issues of positioning and navigation of robots in the aquatic environment are discussed using traditional inertial and acoustic approaches, surface GPS buoys, technical vision systems allowing for obtaining relative coordinates of […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/\" \/>\n<meta property=\"og:site_name\" content=\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\" \/>\n<meta property=\"article:modified_time\" content=\"2026-04-10T07:55:58+00:00\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u041f\u0440\u0438\u043c\u0435\u0440\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u0434\u043b\u044f \u0447\u0442\u0435\u043d\u0438\u044f\" \/>\n\t<meta name=\"twitter:data1\" content=\"7 \u043c\u0438\u043d\u0443\u0442\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-18-en\\\/\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-18-en\\\/\",\"name\":\"25.6.18 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#website\"},\"datePublished\":\"2026-04-06T16:00:36+00:00\",\"dateModified\":\"2026-04-10T07:55:58+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-18-en\\\/#breadcrumb\"},\"inLanguage\":\"ru-RU\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-18-en\\\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/index.php\\\/en\\\/25-6-18-en\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u0413\u043b\u0430\u0432\u043d\u0430\u044f \u0441\u0442\u0440\u0430\u043d\u0438\u0446\u0430\",\"item\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"25.6.18 En\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#website\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\",\"name\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"description\":\"\u041d\u0430\u0443\u0447\u043d\u044b\u0439 \u0436\u0443\u0440\u043d\u0430\u043b\",\"publisher\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#organization\"},\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"ru-RU\"},{\"@type\":\"Organization\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#organization\",\"name\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"ru-RU\",\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#\\\/schema\\\/logo\\\/image\\\/\",\"url\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/wp-content\\\/uploads\\\/2025\\\/07\\\/oblozhka-zhurnala-na-angl-scaled.jpg\",\"contentUrl\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/wp-content\\\/uploads\\\/2025\\\/07\\\/oblozhka-zhurnala-na-angl-scaled.jpg\",\"width\":1828,\"height\":2560,\"caption\":\"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb\"},\"image\":{\"@id\":\"https:\\\/\\\/izvestiyakbncran.ru\\\/#\\\/schema\\\/logo\\\/image\\\/\"}}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"25.6.18 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/","og_locale":"ru_RU","og_type":"article","og_title":"25.6.18 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","og_description":"Methods and technical means of positioning and navigation of robots in the aquatic environment V.N. Le, A.L. Ronzhin Upload the full text Abstract. The issues of positioning and navigation of robots in the aquatic environment are discussed using traditional inertial and acoustic approaches, surface GPS buoys, technical vision systems allowing for obtaining relative coordinates of […]","og_url":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/","og_site_name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","article_modified_time":"2026-04-10T07:55:58+00:00","twitter_card":"summary_large_image","twitter_misc":{"\u041f\u0440\u0438\u043c\u0435\u0440\u043d\u043e\u0435 \u0432\u0440\u0435\u043c\u044f \u0434\u043b\u044f \u0447\u0442\u0435\u043d\u0438\u044f":"7 \u043c\u0438\u043d\u0443\u0442"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/","url":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/","name":"25.6.18 En - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","isPartOf":{"@id":"https:\/\/izvestiyakbncran.ru\/#website"},"datePublished":"2026-04-06T16:00:36+00:00","dateModified":"2026-04-10T07:55:58+00:00","breadcrumb":{"@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/#breadcrumb"},"inLanguage":"ru-RU","potentialAction":[{"@type":"ReadAction","target":["https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/izvestiyakbncran.ru\/index.php\/en\/25-6-18-en\/#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u0413\u043b\u0430\u0432\u043d\u0430\u044f \u0441\u0442\u0440\u0430\u043d\u0438\u0446\u0430","item":"https:\/\/izvestiyakbncran.ru\/"},{"@type":"ListItem","position":2,"name":"25.6.18 En"}]},{"@type":"WebSite","@id":"https:\/\/izvestiyakbncran.ru\/#website","url":"https:\/\/izvestiyakbncran.ru\/","name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","description":"\u041d\u0430\u0443\u0447\u043d\u044b\u0439 \u0436\u0443\u0440\u043d\u0430\u043b","publisher":{"@id":"https:\/\/izvestiyakbncran.ru\/#organization"},"potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/izvestiyakbncran.ru\/?s={search_term_string}"},"query-input":{"@type":"PropertyValueSpecification","valueRequired":true,"valueName":"search_term_string"}}],"inLanguage":"ru-RU"},{"@type":"Organization","@id":"https:\/\/izvestiyakbncran.ru\/#organization","name":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb","url":"https:\/\/izvestiyakbncran.ru\/","logo":{"@type":"ImageObject","inLanguage":"ru-RU","@id":"https:\/\/izvestiyakbncran.ru\/#\/schema\/logo\/image\/","url":"https:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2025\/07\/oblozhka-zhurnala-na-angl-scaled.jpg","contentUrl":"https:\/\/izvestiyakbncran.ru\/wp-content\/uploads\/2025\/07\/oblozhka-zhurnala-na-angl-scaled.jpg","width":1828,"height":2560,"caption":"\u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb"},"image":{"@id":"https:\/\/izvestiyakbncran.ru\/#\/schema\/logo\/image\/"}}]}},"_links":{"self":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/10311","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/comments?post=10311"}],"version-history":[{"count":31,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/10311\/revisions"}],"predecessor-version":[{"id":11076,"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/pages\/10311\/revisions\/11076"}],"wp:attachment":[{"href":"https:\/\/izvestiyakbncran.ru\/index.php\/wp-json\/wp\/v2\/media?parent=10311"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}