{"id":9841,"date":"2026-04-05T10:10:33","date_gmt":"2026-04-05T09:10:33","guid":{"rendered":"https:\/\/izvestiyakbncran.ru\/?page_id=9841"},"modified":"2026-04-09T08:42:39","modified_gmt":"2026-04-09T07:42:39","slug":"25-6-18","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/25-6-18\/","title":{"rendered":"25.6.18"},"content":{"rendered":"\n

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\u0410\u043d\u043d\u043e\u0442\u0430\u0446\u0438\u044f<\/em><\/strong>. \u041e\u0431\u0441\u0443\u0436\u0434\u0430\u044e\u0442\u0441\u044f \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u044b \u043f\u043e\u0437\u0438\u0446\u0438\u043e\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0438 \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u0438 \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \u0432 \u0432\u043e\u0434\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u0435 \u0441 \u043f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u0435\u043c \u0442\u0440\u0430\u0434\u0438\u0446\u0438\u043e\u043d\u043d\u044b\u0445 \u0438\u043d\u0435\u0440\u0446\u0438\u0430\u043b\u044c\u043d\u044b\u0445 \u0441\u0438\u0441\u0442\u0435\u043c, \u0433\u0438\u0434\u0440\u043e\u0430\u043a\u0443\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u043f\u043e\u0434\u0445\u043e\u0434\u043e\u0432, \u043f\u043e\u0432\u0435\u0440\u0445\u043d\u043e\u0441\u0442\u043d\u044b\u0445 GPS-\u0431\u0443\u0435\u0432, \u0441\u0438\u0441\u0442\u0435\u043c \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0437\u0440\u0435\u043d\u0438\u044f, \u043f\u043e\u0437\u0432\u043e\u043b\u044f\u044e\u0449\u0438\u0445 \u043f\u043e\u043b\u0443\u0447\u0438\u0442\u044c \u043e\u0442\u043d\u043e\u0441\u0438\u0442\u0435\u043b\u044c\u043d\u044b\u0435 \u043a\u043e\u043e\u0440\u0434\u0438\u043d\u0430\u0442\u044b \u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u044f \u0440\u043e\u0431\u043e\u0442\u0430 \u0432 \u0432\u043e\u0434\u043e\u0435\u043c\u0435 \u0438 \u0441\u043f\u043b\u0430\u043d\u0438\u0440\u043e\u0432\u0430\u0442\u044c \u043c\u0430\u0440\u0448\u0440\u0443\u0442 \u043a \u0446\u0435\u043b\u0438. \u0421\u043b\u043e\u0436\u043d\u0430\u044f \u0438 \u0438\u0437\u043c\u0435\u043d\u0447\u0438\u0432\u0430\u044f \u043e\u043a\u0440\u0443\u0436\u0430\u044e\u0449\u0430\u044f \u0441\u0440\u0435\u0434\u0430 \u043d\u0430\u043a\u043b\u0430\u0434\u044b\u0432\u0430\u0435\u0442 \u0434\u043e\u043f\u043e\u043b\u043d\u0438\u0442\u0435\u043b\u044c\u043d\u044b\u0435 \u043e\u0433\u0440\u0430\u043d\u0438\u0447\u0435\u043d\u0438\u044f, \u0442\u0440\u0435\u0431\u0443\u044e\u0449\u0438\u0435 \u043f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u044f \u0430\u043b\u044c\u0442\u0435\u0440\u043d\u0430\u0442\u0438\u0432\u043d\u044b\u0445 \u043c\u0435\u0442\u043e\u0434\u043e\u0432 SLAM, \u0432\u0437\u0430\u0438\u043c\u043e\u0434\u0435\u0439\u0441\u0442\u0432\u0438\u044f \u043d\u0435\u0441\u043a\u043e\u043b\u044c\u043a\u0438\u0445 \u0440\u043e\u0431\u043e\u0442\u043e\u0432. \u041a\u043e\u043c\u043f\u043b\u0435\u043a\u0441\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u0438 \u0441 \u043d\u0435\u0441\u043a\u043e\u043b\u044c\u043a\u0438\u0445 \u0434\u0430\u0442\u0447\u0438\u043a\u043e\u0432 \u0440\u0430\u0437\u043b\u0438\u0447\u043d\u043e\u0433\u043e \u0442\u0438\u043f\u0430 \u0438\u043b\u0438 \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \u043f\u043e\u0432\u044b\u0448\u0430\u0435\u0442 \u0442\u043e\u0447\u043d\u043e\u0441\u0442\u044c \u0438 \u043d\u0430\u0434\u0435\u0436\u043d\u043e\u0441\u0442\u044c \u0438\u0445 \u043f\u043e\u0437\u0438\u0446\u0438\u043e\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f, \u043f\u043e\u0437\u0432\u043e\u043b\u044f\u0435\u0442 \u0438\u0437\u0431\u0435\u0436\u0430\u0442\u044c \u0441\u0442\u043e\u043b\u043a\u043d\u043e\u0432\u0435\u043d\u0438\u0439 \u0438 \u043a\u043e\u043b\u043b\u0438\u0437\u0438\u0439 \u043d\u0430 \u043c\u0430\u0440\u0448\u0440\u0443\u0442\u0430\u0445. \u0420\u0430\u0441\u0441\u043c\u043e\u0442\u0440\u0435\u043d\u043d\u044b\u0435 \u043f\u043e\u0434\u0445\u043e\u0434\u044b, \u043f\u0440\u0438\u043c\u0435\u043d\u044f\u0435\u043c\u044b\u0435 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0441\u0440\u0435\u0434\u0441\u0442\u0432\u0430, \u043c\u0435\u0442\u043e\u0434\u044b \u043e\u0431\u0440\u0430\u0431\u043e\u0442\u043a\u0438 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u0438 \u043f\u0440\u0435\u0434\u0441\u0442\u0430\u0432\u043b\u0435\u043d\u044b \u0432 \u0432\u0438\u0434\u0435 \u043e\u0440\u0438\u0433\u0438\u043d\u0430\u043b\u044c\u043d\u044b\u0445 \u043a\u043b\u0430\u0441\u0441\u0438\u0444\u0438\u043a\u0430\u0446\u0438\u0439.<\/p>\n\n\n\n

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\u041a\u043b\u044e\u0447\u0435\u0432\u044b\u0435 \u0441\u043b\u043e\u0432\u0430<\/strong>: <\/em>\u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u043a\u0430, \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u044f, \u043f\u043e\u0437\u0438\u0446\u0438\u043e\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435, SLAM, \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u043e\u0435 \u0437\u0440\u0435\u043d\u0438\u0435, \u0433\u0438\u0434\u0440\u043e\u0430\u043a\u0443\u0441\u0442\u0438\u043a\u0430, \u0433\u0440\u0443\u043f\u043f\u043e\u0432\u043e\u0435 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0440\u043e\u0431\u043e\u0442\u0430\u043c\u0438<\/p>\n\n\n\n

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\u0414\u043b\u044f \u0446\u0438\u0442\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f.<\/strong> \u041b\u0435 \u0412. \u041d., \u0420\u043e\u043d\u0436\u0438\u043d \u0410. \u041b. \u0421\u043f\u043e\u0441\u043e\u0431\u044b \u0438 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0441\u0440\u0435\u0434\u0441\u0442\u0432\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u043e\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0438 \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u0438 \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \u0432 \u0432\u043e\u0434\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u0435 \/\/ \u0418\u0437\u0432\u0435\u0441\u0442\u0438\u044f \u041a\u0430\u0431\u0430\u0440\u0434\u0438\u043d\u043e-\u0411\u0430\u043b\u043a\u0430\u0440\u0441\u043a\u043e\u0433\u043e \u043d\u0430\u0443\u0447\u043d\u043e\u0433\u043e \u0446\u0435\u043d\u0442\u0440\u0430 \u0420\u0410\u041d. 2023. \u2116 6(116). \u0421. 167\u2013178. DOI: 10.35330\/1991-6639-2023-6-116-167-178<\/p>\n\n\n\n

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\u0418\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u044f \u043e\u0431 \u0430\u0432\u0442\u043e\u0440\u0430\u0445<\/strong><\/summary>\n

\u041b\u0435 \u0412\u0430\u043d \u041d\u0433\u0438\u0430<\/strong>, \u0441\u043f\u0435\u0446\u0438\u0430\u043b\u0438\u0442\u0435\u0442, \u0412\u043e\u0435\u043d\u043d\u044b\u0439 \u0443\u0447\u0435\u0431\u043d\u043e-\u043d\u0430\u0443\u0447\u043d\u044b\u0439 \u0446\u0435\u043d\u0442\u0440 \u0412\u043e\u0435\u043d\u043d\u043e-\u041c\u043e\u0440\u0441\u043a\u043e\u0433\u043e \u0424\u043b\u043e\u0442\u0430 \u00ab\u0412\u043e\u0435\u043d\u043d\u043e-\u043c\u043e\u0440\u0441\u043a\u0430\u044f \u0430\u043a\u0430\u0434\u0435\u043c\u0438\u044f\u00bb;
197045, \u0420\u043e\u0441\u0441\u0438\u044f, \u0421\u0430\u043d\u043a\u0442-\u041f\u0435\u0442\u0435\u0440\u0431\u0443\u0440\u0433, \u0423\u0448\u0430\u043a\u043e\u0432\u0441\u043a\u0430\u044f \u043d\u0430\u0431\u0435\u0440\u0435\u0436\u043d\u0430\u044f, 17\/1;
lenghia18071999@gmail.com
\u0420\u043e\u043d\u0436\u0438\u043d \u0410\u043d\u0434\u0440\u0435\u0439 \u041b\u0435\u043e\u043d\u0438\u0434\u043e\u0432\u0438\u0447<\/strong>, \u0434-\u0440 \u0442\u0435\u0445\u043d. \u043d\u0430\u0443\u043a, \u043f\u0440\u043e\u0444\u0435\u0441\u0441\u043e\u0440, \u0434\u0438\u0440\u0435\u043a\u0442\u043e\u0440, \u0421\u0430\u043d\u043a\u0442-\u041f\u0435\u0442\u0435\u0440\u0431\u0443\u0440\u0433\u0441\u043a\u0438\u0439 \u0424\u0435\u0434\u0435\u0440\u0430\u043b\u044c\u043d\u044b\u0439 \u0438\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u0442\u0435\u043b\u044c\u0441\u043a\u0438\u0439 \u0446\u0435\u043d\u0442\u0440 \u0420\u043e\u0441\u0441\u0438\u0439\u0441\u043a\u043e\u0439 \u0430\u043a\u0430\u0434\u0435\u043c\u0438\u0438 \u043d\u0430\u0443\u043a;
199178, \u0420\u043e\u0441\u0441\u0438\u044f, \u0421\u0430\u043d\u043a\u0442-\u041f\u0435\u0442\u0435\u0440\u0431\u0443\u0440\u0433, 14-\u044f \u043b\u0438\u043d\u0438\u044f \u0412\u0430\u0441\u0438\u043b\u044c\u0435\u0432\u0441\u043a\u043e\u0433\u043e \u043e\u0441\u0442\u0440\u043e\u0432\u0430, 39;
ronzhin@iias.spb.su, ORCID: https:\/\/orcid.org\/0000-0002-8903-3508<\/p>\n\n\n\n

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\u0421\u043f\u0438\u0441\u043e\u043a \u043b\u0438\u0442\u0435\u0440\u0430\u0442\u0443\u0440\u044b<\/strong><\/summary>\n
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  1. \u041c\u043e\u0440\u043e\u0437\u043e\u0432 \u0420. \u041e., \u0413\u043e\u0440\u0435\u043b\u044b\u0439 \u0410. \u0415., \u0420\u044b\u0436\u043e\u0432 \u0412. \u0410. <\/em>\u0418\u043d\u0442\u0435\u043b\u043b\u0435\u043a\u0442\u0443\u0430\u043b\u044c\u043d\u044b\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u0438 \u0438 \u043f\u043b\u0430\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u041c\u0420\u0422\u041a \/\/ \u041c\u043e\u0440\u0441\u043a\u0438\u0435 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u043e\u043d\u043d\u043e-\u0443\u043f\u0440\u0430\u0432\u043b\u044f\u044e\u0449\u0438\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b. 2021. \u0421. 34\u201343.<\/li>\n\n\n\n
  2. Nicosevici T., Garcia R., Carreras M., Villanueva M.<\/em> A review of sensor fusion techniques for underwater vehicle navigation. Oceans’-04. MTS\/IEEE Techno-Ocean ’04 (IEEE Cat. No. 04CH37600). 2004. Vol. 3. Pp. 1600\u20131605. DOI: 10.1109\/OCEANS.2004.1406361.<\/li>\n\n\n\n
  3. Borkowski P.<\/em> The ship movement trajectory prediction algorithm using navigational data fusion. Sensors. 2017. 17(6). P. 1432. DOI: https:\/\/doi.org\/10.3390\/s17061432.<\/li>\n\n\n\n
  4. Yuan K., Wang H., Zhang H. <\/em>Robot position realization based on multi-sensor information fusion algorithm. Fourth International Symposium on Computational Intelligence and Design. Pp. 294\u2013297. DOI: 10.1109\/ISCID.2011.81.<\/li>\n\n\n\n
  5. Yang Q., Sun J. <\/em>An underwater autonomous robot based on multi-sensor data fusion. In 2006 6th World Congress on Intelligent Control and Automation. 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.<\/em> 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.<\/em> Multi-sensor fusion in body sensor networks: state-of-the-art and research challenges. Information Fusion. 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.<\/em> Multisensor data fusion for underwater navigation. Robotics and Autonomous Systems. 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.<\/em> Study and implementation of an EKF GIB-based underwater positioning system. Control Engineering Practice. 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.<\/em> A method of Navigation using a Modified Ultra Short BaseLine Directional Acoustic Transponder. Oceans 2007 \u2013 Europe. 2007. DOI: 10.1109\/OCEANSE.2007.4302343<\/li>\n\n\n\n
  11. Thomson D., Elson S. <\/em>New generation acoustic positioning systems. Oceans ’02 MTS\/IEEE. 2002. Vol. 3. Pp. 1312\u20131318. DOI: 10.1109\/OCEANS.2002.1191828<\/li>\n\n\n\n
  12. \u041a\u0440\u0435\u0441\u0442\u043e\u0432\u043d\u0438\u043a\u043e\u0432 \u041a. \u0414., \u0415\u0440\u0448\u043e\u0432 \u0410. \u0410., \u0421\u0430\u0432\u0435\u043b\u044c\u0435\u0432 \u0410. \u0418.<\/em> \u041f\u043e\u0434\u0445\u043e\u0434 \u043a \u0431\u0435\u0441\u043f\u0440\u043e\u0432\u043e\u0434\u043d\u043e\u043c\u0443 \u0437\u0430\u0440\u044f\u0434\u0443 \u0430\u043a\u043a\u0443\u043c\u0443\u043b\u044f\u0442\u043e\u0440\u043d\u043e\u0439 \u0431\u0430\u0442\u0430\u0440\u0435\u0438 \u0430\u0432\u0442\u043e\u043d\u043e\u043c\u043d\u044b\u0445 \u043d\u0435\u043e\u0431\u0438\u0442\u0430\u0435\u043c\u044b\u0445 \u043f\u043e\u0434\u0432\u043e\u0434\u043d\u044b\u0445 \u0430\u043f\u043f\u0430\u0440\u0430\u0442\u043e\u0432 \/\/ \u041c\u043e\u0440\u0441\u043a\u0438\u0435 \u0438\u043d\u0442\u0435\u043b\u043b\u0435\u043a\u0442\u0443\u0430\u043b\u044c\u043d\u044b\u0435 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0438. 2022. \u2116 4\u20131(58). \u0421. 144\u2013155. DOI: https:\/\/doi.org\/10.37220\/MIT.2022.58.4.036<\/li>\n\n\n\n
  13. \u0421\u0430\u0432\u0430\u0442\u0435\u0435\u0432 \u041d. \u041d. <\/em>\u0418\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435 \u0441\u043f\u0443\u0442\u043d\u0438\u043a\u043e\u0432\u044b\u0445 \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u043e\u043d\u043d\u044b\u0445 \u0441\u0438\u0441\u0442\u0435\u043c \u0434\u043b\u044f \u043e\u043f\u0440\u0435\u0434\u0435\u043b\u0435\u043d\u0438\u044f \u043c\u0435\u0441\u0442\u043e\u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u044f \u043e\u0431\u044a\u0435\u043a\u0442\u0430 \u043f\u043e\u0434 \u0432\u043e\u0434\u043e\u0439 \/\/ \u0418\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u043e\u043d\u043d\u044b\u0435 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0438 \u0432 \u043e\u0431\u0440\u0430\u0437\u043e\u0432\u0430\u043d\u0438\u0438. \u0421. 214\u2013219.<\/li>\n\n\n\n
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  17. Carreras M., Ridao P., Garcia R., Nicosevici T.<\/em> Vision-based localization of an underwater robot in a structured environment. 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422). 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.<\/em> A monocular vision measurement algorithm based on the underwater robot. Applied Mechanics and Materials. 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.<\/em> Research on technologies of underwater feature extraction and target location based on binocular vision. The 27th Chinese Control and Decision Conference (2015 CCDC). IEEE. 2015. Pp. 5778\u20135784. DOI: 10.1109\/CCDC.2015.7161837<\/li>\n\n\n\n
  20. Jian X., Xiaoyuan C., Xiaoping S., Hang L.<\/em> Target recognition and location based on binocular vision system of UUV. 2015 34th Chinese Control Conference (CCC). IEEE. 2015. Pp. 3959\u20133963. DOI: 10.1109\/ChiCC.2015.7260249<\/li>\n\n\n\n
  21. \u0412\u044f\u043b\u043a\u043e\u0432 \u0418. \u041a., \u0422\u0438\u043c\u043e\u0448 \u041f. \u0421.<\/em> \u0418\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043d\u0438\u0435 SLAM \u043c\u0435\u0442\u043e\u0434\u0430 \u0434\u043b\u044f \u0432\u043d\u0443\u0442\u0440\u0435\u043d\u043d\u0435\u0439 \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u0438 \u0441 \u043f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u0435\u043c AR \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0439 \/\/ \u041d\u0430\u0443\u0447\u043d\u043e-\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u043e\u0435 \u0438 \u044d\u043a\u043e\u043d\u043e\u043c\u0438\u0447\u0435\u0441\u043a\u043e\u0435 \u0441\u043e\u0442\u0440\u0443\u0434\u043d\u0438\u0447\u0435\u0441\u0442\u0432\u043e \u0441\u0442\u0440\u0430\u043d \u0410\u0422\u0420 \u0432 XXI \u0432\u0435\u043a\u0435. 2023. \u0421. 331\u2013333.<\/li>\n\n\n\n
  22. \u041b\u0443\u0433\u043e\u0432\u0441\u043a\u043e\u0439 \u0412. \u0412. <\/em>SLAM \u043a\u0430\u043a \u043f\u0435\u0440\u0435\u0434\u043e\u0432\u043e\u0439 \u043c\u0435\u0442\u043e\u0434 \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u0438 \u0438 \u0435\u0433\u043e \u0432\u0438\u0434\u044b \/\/ \u0418\u043d\u043d\u043e\u0432\u0430\u0446\u0438\u043e\u043d\u043d\u0430\u044f \u043d\u0430\u0443\u043a\u0430. 2023. \u2116 4\u20132. \u0421. 46\u201349.<\/li>\n\n\n\n
  23. Zhao W., He T., Sani A. Y. M., Yao T. <\/em>Review of SLAM Techniques For Autonomous Underwater Vehicles. Proceedings of the 2019 International Conference on Robotics. Intelligent Control and Artificial Intelligence. 2019. Pp. 384\u2013389. DOI: https:\/\/doi.org\/10.1145\/3366194.3366262<\/li>\n\n\n\n
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    <\/p>\n<\/details>\n","protected":false},"excerpt":{"rendered":"

    \u0421\u043f\u043e\u0441\u043e\u0431\u044b \u0438 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0441\u0440\u0435\u0434\u0441\u0442\u0432\u0430 \u043f\u043e\u0437\u0438\u0446\u0438\u043e\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0438 \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u0438 \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \u0432 \u0432\u043e\u0434\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u0435 \u0412. \u041d. \u041b\u0435, \u0410. \u041b. \u0420\u043e\u043d\u0436\u0438\u043d \u0417\u0430\u0433\u0440\u0443\u0437\u0438\u0442\u044c \u043f\u043e\u043b\u043d\u044b\u0439 \u0442\u0435\u043a\u0441\u0442 \u0410\u043d\u043d\u043e\u0442\u0430\u0446\u0438\u044f. \u041e\u0431\u0441\u0443\u0436\u0434\u0430\u044e\u0442\u0441\u044f \u043f\u0440\u043e\u0431\u043b\u0435\u043c\u044b \u043f\u043e\u0437\u0438\u0446\u0438\u043e\u043d\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u044f \u0438 \u043d\u0430\u0432\u0438\u0433\u0430\u0446\u0438\u0438 \u0440\u043e\u0431\u043e\u0442\u043e\u0432 \u0432 \u0432\u043e\u0434\u043d\u043e\u0439 \u0441\u0440\u0435\u0434\u0435 \u0441 \u043f\u0440\u0438\u043c\u0435\u043d\u0435\u043d\u0438\u0435\u043c \u0442\u0440\u0430\u0434\u0438\u0446\u0438\u043e\u043d\u043d\u044b\u0445 \u0438\u043d\u0435\u0440\u0446\u0438\u0430\u043b\u044c\u043d\u044b\u0445 \u0441\u0438\u0441\u0442\u0435\u043c, \u0433\u0438\u0434\u0440\u043e\u0430\u043a\u0443\u0441\u0442\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u043f\u043e\u0434\u0445\u043e\u0434\u043e\u0432, \u043f\u043e\u0432\u0435\u0440\u0445\u043d\u043e\u0441\u0442\u043d\u044b\u0445 GPS-\u0431\u0443\u0435\u0432, \u0441\u0438\u0441\u0442\u0435\u043c \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0437\u0440\u0435\u043d\u0438\u044f, \u043f\u043e\u0437\u0432\u043e\u043b\u044f\u044e\u0449\u0438\u0445 \u043f\u043e\u043b\u0443\u0447\u0438\u0442\u044c \u043e\u0442\u043d\u043e\u0441\u0438\u0442\u0435\u043b\u044c\u043d\u044b\u0435 \u043a\u043e\u043e\u0440\u0434\u0438\u043d\u0430\u0442\u044b \u043f\u043e\u043b\u043e\u0436\u0435\u043d\u0438\u044f \u0440\u043e\u0431\u043e\u0442\u0430 \u0432 \u0432\u043e\u0434\u043e\u0435\u043c\u0435 \u0438 \u0441\u043f\u043b\u0430\u043d\u0438\u0440\u043e\u0432\u0430\u0442\u044c \u043c\u0430\u0440\u0448\u0440\u0443\u0442 \u043a \u0446\u0435\u043b\u0438. 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