Y

Where: AZEMS, AyEMS - position of electrodes system center; pt<EMS> - mutual AUV-object angle (fig. 1).

EMS operates stably enough (identifies metallic lengthy object and define its crossing angle) at lengthy metallic object crossing under corners 30^60 degrees to longitudinal AUV axis. The system operates uncertainly at AUV movement along the object (speed of change of electromagnetic potential is close to zero) and across (emitting electrodes direct too small potential). The estimation of lengthy metallic object existence probability p«EMS> can be defined using electromagnetic field potential on the receiving electrodes o«ems> (a general potential estimation according to all receiving dipoles) and object direction ®kems> of recognized object similarly to VIC contacts filtration (fig. 2).

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