A new algorithm for collaborative navigation without time synchronization of multi-UUVS

Research on cooperative navigation and localization of multi-UUVs is an important topic to solve the cooperative mission problem. In the traditional structure, all UUVs need the synchronous-clock. The error may increase in long range mode. In the Leader-Follower structure, with the distance between leader and follow, a new cooperative navigation algorithm without synchronous-clock was present. The simulation shows well.