This invention relates to a highly efficient
underwater gravity field information measurement method based on swarm
collaboration. It utilizes an unmanned swarm of
underwater unmanned vehicles (UUVs) equipped with
underwater gravimeters to simultaneously measure gravity information along multiple underwater survey lines. Using a surface vessel as a reference
gravimeter, the underwater
gravimeter is compared with the reference
gravimeter before release and after retrieval to ensure consistency of underwater gravimeter measurement information. After release, the UUV navigates to the starting point of the
survey line and, guided by a surface vessel, uses two-stage
motion control to maintain the
survey line's navigation and formation. Ultra-short baseline positioning and relative
ranging are used to determine the UUV's precise position and velocity, enabling accurate compensation and correction of gravity measurements, acquisition of
gravity anomaly information along the
survey line, and construction of a gravity map. This invention achieves highly efficient underwater gravity measurement and rapid gravity map construction, improving measurement efficiency several times compared to traditional ship-based gravity measurement methods.