Research on Cooperative Localization Algorithm for Multi-AUV System Based on Distance Measurement

Multi-AUV system have becoming importance components in many tasks, such as underwater environmental monitoring and underwater mineral exploration, target detection and seabed topographic mapping. Aiming at depending on less AUV excessively and the high computational complexity caused by the increase of AUV in multi-AUV system, a cooperative localization method for multi-AUV system based on adjustment with conditions is proposed in this paper. Distance between each AUV can be measurement by underwater acoustic communication. The relative position of each AUV can be estimated by adjustment with conditions method. Simulation results show that the method can significantly improve the localization ability of whole system and lower the error compared with geometric solution method.