A multiple AUVs cooperative navigation algorithm considering the effect of ocean current

摘要

In multiple AUVs cooperative navigation system, a small amount of leader AUVs with high precision navigation sensors lead a large amount of follower AUVs with low accuracy navigation sensors to complete the task, which has important engineering application value. Improving follower AUV navigation and positioning accuracy is cooperative navigation key issues. In view of the water communication data rate is low and the current is one of the main error sources of follower AUV localization process, the method that follower AUV using the received information of ocean current calculated by leader AUV to improve position calculation is researched, this paper puts forward a multiple AUVs cooperative navigation algorithm considering the effect of ocean currents, and simulation of follower AUV position calculation is carried out. The simulation results show that this method can significantly improve the follower AUV navigation accuracy.