Cooperative positioning and communication method, device and equipment of underwater robot and medium

Abstract

The application discloses a kind of underwater robot cooperative positioning communication method, device, equipment and medium, it is related to underwater cooperative navigation technical field.In the first batch of submersion task, rely on the high-precision satellite positioning reference provided by water surface leader, position correction is carried out to follower in combination with ultra-short baseline system, the positioning accuracy of follower when reaching seabed is significantly improved, and accurate initial position information is provided for its integrated navigation system.On this basis, in the second batch of submersion task, the initial position information of multiple followers is used as known reference point by leader, the inverse solution and correction of its own position are realized by fusing underwater acoustic positioning data and its own navigation state information.Through batch submersion and multi-round cooperative correction mechanism, the positioning error accumulation caused by long time in pure inertial working mode of integrated navigation system in the process of large-depth submersion is effectively inhibited, and the positioning accuracy and system robustness of underwater formation cooperative operation are significantly improved.

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