Underwater Unmanned Vehicle Clusters Cooperative Positioning Method

Nowadays, UUV clusters have become the main carriers for ocean environment monitoring. In this application, the positioning of UUV nodes during voyages is of great importance. A cooperative positioning method for UUV clusters is presented in this paper. It utilizes factor graphs to fuse ranging information from each UUV node, and predicts movement path based on multiple confocal positioning models. The comparison results demonstrate that the proposed method achieves higher positioning accuracy, faster convergence speed, and good suppression capability for mutation errors.