Mathematical support
- Models of kinematics and dynamics
- Hydrodynamic and aerodynamic forces acting on the moving boat
- Mathematical models of the actuators and environment
- Mathematical models parameters
- Basic control laws
Control and Planning System
Software-Hardware Implementation
Navigation System
| Parameter | Value |
| Navigation latitud | from 60°S to 85°N |
| Temperature range | from -10 to +55 °С |
| Heading error | 0,4°secφContinuous |
| operation time | not limited |
| Ресурс | 120000 ч. |
| Working life | 120000 hrs |
| Military formal acceptance | yes |
| Setup timeless | than 30 min |
| Mass | 17kg |
| Sensors | 3 Fibre optic gyroscopes and 3 accelerometers |
