Cooperative Navigation Algorithm for Two Leaders GUUV

In this paper, we propose a moving long baseline algorithm based on double acoustic measurement for cooperative navigation of Group Unmanned Underwater Vehicle. Research on cooperative navigation of GUUV is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the Leader-follow structure, the leader UUV is equipped with high precision navigation system, and the follow UUV is equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. Traditionally geometry triangulation method is used to calculate the position of follow UUV, the method may cause fault error solution. Double acoustic measurement method was designed, which fused the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively.