A Modified Method for AUV Collaborative Navigation Based on Distance Measurement

摘要

Collaborative navigation has already attracted the attention of most scholars in recent years. In this paper, we proposed a modified method based on distance measurement for multi-AUV collaborative navigation. The goal of this algorithm is to reduce the accumulated error by the redundant measurement information from master AUV. In addition, the method solved the problem of frequency inconsistency, which means the frequency between distance measurement (0.125Hz) and other measurement (5Hz) is different in our sea trial. Particularly, we compare the performance of methods for two types of different situation (one master AUV or two). Simulations and preliminary sea trial prove that the performance of our method is remarkable and effective.