Abstract:

To deal with the problems of abnormal measurement of multiple autonomous underwater vehicle (AUV) in cooperative navigation process, a new cooperative navigation algorithm based on the interacting model is proposed to meet the requirement of navigation. Firstly, on the basis of the multiple AUV cooperative navigation model, the basic cooperative navigation filtering process is presented. Then, a generalized maximum likelihood estimation filtering algorithm is carried out to deal with the measured noise. Further, the generalized maximum likelihood estimation in the form of Schweppe is used to solve the anomaly of measurement. Finally, the interactive multiple model algorithm is used to solve the problem of the decrease of the filtering accuracy caused by the measurement noise. Simulation results show that the proposed algorithm is adaptive robust.