An optimal measure choosing strategy to AUVs cooperative localization

Cooperative Localization (CL) is a crucial loop in navigation with multiple Autonomous Underwater Vehicles (AUVs). Measuring and communicating are essential for CL to improve the position performance, which two are still difficult challenges until now, due to the terrible underwater environment. To make the furthest use of the measurements, in this paper, an Optimal Measure Choosing Strategy (OMCS) is proposed based on the value function established in this paper. The object is that minimizing the measurement and communication of AUVs to reduce the consumption arising from the cooperative course, meanwhile, without loss of performance. Then, in order to weight the different importance relative to different costs, the importance factors are imposed into the consumption function to improve the OMCS. Finally, experimental simulations illustrate the advantages of the proposed algorithm.