协同导航方法是一种利用无人水下航行器（UUV）之间相对位置信息，提高配备低精度自定位传感器个体定位精度的方法。然而个体间相对位置的改变，即协同结构的不同，会导致不同的定位精度。当多个 UUV 由于相距较近，被在较远处的配备高精度定位传感器的另一 UUV 上的同一声纳同步观测时，即它们处于“共同观测环境”中，各个 UUV 所受到的噪声干扰具有相同或相近的性质。因此，可以利用误差间这种相关性对量测信息进行粗估计，再利用合适的滤波器融合粗估计量测与航位推算估计以提高配备低自定位精度传感器 UUV 位置估计的精度。最后的仿真结果显示了这种处理方法的有效性和一致性。%The cooperative navigation method is a measure which can improve the localization accuracy of the indi -viduals equipped with low precise proprioceptive localization sensors utilizing the relative position information among the unmanned underwater vehicles(UUV).Changes of the individual relative positions , that is to say differences of the cooperation structures will lead to the different localization accuracy .When multiple UUVs are in close proximi-ty and then can be observed simultaneously by the same sonar that is located in a more distant UUV equipped with highly precise proprioceptive localization sensors , they are in the “common observation environment ” in which the error of each UUV has the same or similar nature .So, the measurement information can be roughly estimated using the correlations among the errors and then the positioning estimation accuracy of the UUV equipped with low preci -sion proprioceptive localization sensors can be improved through utilizing a suitable filter which fuses the roughly es -timated measurements with the dead reckoning estimates .The validity and the consistency of the management meth -od are shown preliminarily by the simulation results and their analysis .
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