An Improved Cooperative Localization Algorithm for Multi-Platform on the Sea

All information from far neighbor platforms doesn't arrive at the localization platform at the same slot in the cooperative localization for multi-platform. This is because the system uses the working way of time division multiple access (TDMA). An improved cooperative localization algorithm based on the nearest neighbor localization model for multi-platform on the sea is presented to solve the slot problem, to improve the localization performance and practicality, and to reduce the algorithm storage. It solves with the pseudomeasurement by similar ratio to avoid with the some answers for solving the nolinear equation and difficult implement. At the same time, the error formula is deduced.The result shows that the algorithm is easier to practise and to attain higher precision and little calculating amount.