Due to the weak observability of autonomous underwater vehicles ( AUVs) cooperative navigation with a single leader, high maneuverability is required for the main AUV as leader. However, it is always difficult to imple-ment in practice. A cooperative navigation method based on two-leader alternated navigation has been proposed, and the range information observed from different leaders in adjacent measuring time was used for the AUVs'coop-eration. The mathematical model of the cooperative navigation system was first established, and then the observabili-ty was analyzed quantitatively by using the spectral condition number method. The relationship between the observ-ability and the maneuvering state of the leader-follower in adjacent time was confirmed and the theoretical basis of the alternated support with the two-leader AUVs was provided. In comparison with the traditional method with only one leader, this proposed method was verified to be more effective and feasible.%基于单主模式的AUV协同导航系统的可观测性弱，对主AUV的机动性要求较高，实现较为困难，针对这一问题，提出一种基于双主交替领航的多AUV协同导航方法。在相邻量测时刻，从AUV分别利用不同主AUV的距离观测进行导航误差的协同校正。首先建立了AUV协同导航系统的数学模型；然后利用谱条件数法对AUV协同导航系统的可观测性进行了定量分析，明确了系统可观测度大小与相邻时刻主从AUV机动状态的对应关系，为利用双主交替领航提高系统可观测性提供了理论依据。通过与单主方案进行对比试验，验证了双主交替领航方案的有效性和可行性。
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