Multiple AUV cooperative positioning method based on underwater sound double pass range finding
A technology of co-location and underwater acoustics, which is applied in the directions of positioning, measurement devices, underwater ships, etc., and can solve the problems of affecting the co-location effect, large time delay of underwater acoustic communication, and reducing the frequency of AUV collaborative update.
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[0046] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0047] (1) The problem to be solved by the present invention is: aiming at the practical problems existing in the existing two-way ranging technology in the application of AUV cooperative positioning, the present invention provides a simple to implement, high positioning accuracy, low energy consumption, suitable for multiple AUV The collaborative positioning scheme based on the underwater acoustic two-way ranging network can better meet the task requirements of underwater multi-AUV long-term cooperative work.
[0048] (2) Technical solution: In order to solve the above problems, the present invention proposes a new underwater multi-AUV cooperative positioning scheme based on underwater acoustic two-way ranging, and its process is:
[0049] Step 1: Set the time synchronization of each AUV system, mainly for the needs of subsequent algorithms, and the time syn...
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