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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
