Paper Title:
Study on Cooperative Navigation Based on Nonlinear Filtering for Multiple UUVs
  Abstract

Cooperative navigation of multiple Unmanned Underwater Vehicles(multi-UUVs) is an important approach to solve localization problem of UUV formation. This paper expatiates on the popular cooperative navigation modes of Leader-Fellow structure and Moving Long Base Line(MLBL) structure, and provides the motion equations and the measure equation based on hydroacoustic Time-Of-Flight(TOF), and studies on the cooperative navigation methods which make use of two nonlinear filters of EKF and UKF. It is an obvious conclusion that adopting cooperative navigation methods can improve effectively localization accuracy of UUV equipped with low precision navigation sensors.

  Info
Periodical
Edited by
Honghua Tan
Pages
2132-2137
DOI
10.4028/www.scientific.net/AMM.29-32.2132
Citation
J. Lu, D. M. Xu, L. C. Zhang, F. B. Zhang, "Study on Cooperative Navigation Based on Nonlinear Filtering for Multiple UUVs", Applied Mechanics and Materials, Vols. 29-32, pp. 2132-2137, 2010
Online since
August 2010
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