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Method of Matching Navigation Systems of AUV-Leader and AUV-Followers Moving in Formation

The method of matching the navigation systems of AUV moving in the “leader-followers” mode. The method is based on the use of an extended Kalman filter, the system model of which includes models of motion of AUV-follower and AUV-leader. The match of these models is ensured by the use of an extended measurement function, which includes an additional measurement of the direction to the AUV-leader, which can be performed visually or with the help of hydrophones. The simulation results showed that the application of the proposed approach will allow using expensive sonar navigation systems only on the AUV-leader, which will reduce the cost of the entire AUV-group.