Abstract:

Cooperative navigation of multiple autonomous underwater vehicles (MAUVs) is the key problem for underwater group missions. An algorithm based on acoustic modem for MAUVs is presented. In the masterslaver structure, the master AUV is equipped with high precision navigation system, and the slaver AUV is equipped with low precision navigation system. The slaver AUV is equipped with acoustic device to measure the relative distance and azimuth angle. Additionally with the accurate position of master AUV, an algorithm is designed, which fuses the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy is improved effectively by using the cooperative navigation and localization method.