Computer Science ›› 2015, Vol. 42 ›› Issue (Z11): 525-528.

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Improved Mathematical Model for Cooperative Navigation of Multi-AUVs

WANG Wei-ping, YANG Miao and ZHAO Yu-xin   

  • Online:2018-11-14 Published:2018-11-14

Abstract: AUV represents the future development direction of underwater vehicle. Through sharing of information,cooperative navigation system of multi-AUVs has more advantages than the single AUV navigation system.This paper analyzed the basic principles of cooperative navigation of Multi-AUVs,and advantages and disadvantages of its two kinds of network structure,then proposed an improved structure of cooperative navigation of multi-AUVs,and deduced the motion model and measurement model,to create the conditions for subsequent research on cooperative navigation algorithm.

Key words: AUV,Cooperative navigation,Motion model,Measurement model

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