Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements

Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles (MAUVs). In this work, in order to solve the invalidation of location due to the time delayed measurements, an algorithm which based on the augmented extended Kalman filter (AEKF) is proposed. The algorithm expands the variable dimension of slave AUV according to the time delayed measurements, and infers the fundamental equations of AEKF. Compared to the traditional EKF method, simulation results prove that AEKF has higher positioning accuracy.