Consistent Extended Kalman Filter-Based Cooperative Localization of Multiple Autonomous Underwater Vehicles

Consistent Extended Kalman Filter-Based Cooperative Localization of Multiple Autonomous Underwater Vehicles

In order to solve the problem of inconsistent state estimation when multiple autonomous underwater vehicles (AUVs) are co-located, this paper proposes a method of multi-AUV co-location based on the consistent extended Kalman filter (EKF). Firstly, the dynamic model of cooperative positioning system...

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Bibliographic Details
Main Authors: Fubin Zhang, Xingqi Wu, Peng Ma
Format: Article
Language:English
Published: MDPI AG 2022-06-01
Series:Sensors
Subjects:
multiple AUVs
cooperative localization
extended Kalman filter
consistency
Online Access:https://www.mdpi.com/1424-8220/22/12/4563

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