Research on AUV Cooperative Positioning Algorithm Based on Innovation Correction Method Based Central Differential Kalman Filter

Reliable underwater positioning technology is a prerequisite and key technology for an autonomous underwater vehicle (AUV) to successfully complete its mission. Aiming at the strong nonlinear characteristics of the underwater vehicle cooperative positioning system and the unknown characteristics of underwater noise statistics, this paper proposes the innovation correction method based central differential Kalman filter (ICM-CDKF) algorithm, and establishes a Leader-Fellow cooperative positioning algorithm. The mathematical model realizes the high-precision positioning of the underwater AUV when the noise characteristics are unknown. Through simulation and ship navigation experiments on the lake, the effectiveness of the positioning method proposed in this paper is verified.