The invention discloses a multi-AUV collaborative navigation method adopting a
factor graph and
sum product algorithm. The method comprises the following steps that firstly, a state equation and a measurement equation are established for describing an AUV
navigation system; secondly, a corresponding multi-AUV collaborative
navigation system factor graph model is established according to the state equation and the measurement equation of the AUV, and the
factor graph model contains a ring structure, wherein the loop-containing factor graph is equivalently converted into a loop-free factor
graph model containing an aggregation node in order to obtain an accurate solution of the
system; and finally, one-step prediction updating is peformed on the position and the
azimuth angle of the AUV according to a
system state equation, and then the position and the
azimuth angle of the AUV are estimiated according to the observed quantity between the AUVs obtained by the
system in combination with a measurement equation. The
estimation method based on the
graph theory is adopted, and the method is novel. Besides, the actual
engineering positioning precision can be met, meanwhile, the calculated amount is smaller, and the method shows higher system expandability and is higher in applicability in actual
engineering application.