The article deals with the model of autonomous underwater vehicle (AUV) positioning relative to elements of underwater structures during inspection works at marine industrial facilities. The proposed approach is based on the principle of relative position determination using a set of active visual landmarks with a known spatial configuration relative to the structures and television cameras of the AUV. New methods of visual and inertial sensors fusion proposed to solve the problem in a case of incomplete landmarks visibility, as well as ways to improve the accuracy of the solution in the presence of partial information about the mutual position of the objects. The developed software for modeling of various landmarks systems and testing of the positioning algorithms, as well as the results of the experimental studies are described.
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