Research on the algorithm of cooperative localization of multiple unmanned vehicles
Sun Shiyan, Huimin Zhu, Wenkai Xiao · 2016
The cooperative network and its style of cooperative localization in the Leader-Follower structure are researched, the algorithm of cooperative localization of multiple Unmanned Vehicles (take Unmanned Underwear Vehicles for example) based on Extended Kalman Filter is provided. Usually, the leader-UUV was equipped with navigation system of high-precision, and the follower-UUVs are equipped with navigation system of low precision, on the premise of leader-UUV and follower-UUVs equipped with an acoustic communication device, follower-UUVs can realize information sharing and self-positioning by using relative observation information and information interaction. The results show that the presented approach could help follower-UUVs determine their position in unknown environment.