Study on Cooperative Navigation Based on Nonlinear Filtering for Multiple UUVs
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.
J. Lu et al., "Study on Cooperative Navigation Based on Nonlinear Filtering for Multiple UUVs", Applied Mechanics and Materials, Vols. 29-32, pp. 2132-2137, 2010