AUV cooperative navigation algorithm based on factor graph

To study the underwater positioning problem of autonomous underwater navigation (AUV) based on underwater acoustic ranging information. Combined with the data representation method of the factor graph, an AUV position estimation method based on the probabilistic graphical model is presented. The factor graph modeling method of the dynamic system is deduced in detail, and the sum-product algorithm is used to solve the parameters to obtain the estimation of the AUV position. Comparing the extended Kalman filter algorithm (EKF) with the proposed algorithm and using MATLAB simulation, the AUV cooperative navigation algorithm based on factor graph can estimate the position information of AUV more accurately and has better estimated effect in the case of weak noise.