Cooperative navigation of multiple autonomous underwater vehicles (MAUVs) is the key problem for underwater group missions. An algorithm based on acoustic modem for MAUVs is presented. In the master-slaver structure, the master AUV is equipped with high precision navigation system, and the slaver AUV is equipped with low precision navigation system. The slaver AUV is equipped with acoustic device to measure the relative distance and azimuth angle. Additionally with the accurate position of master AUV, an algorithm is designed, which fuses the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy is improved effectively by using the cooperative navigation and localization method.%协同导航定位是实现多自主水下航行器(multiple autonomous underwater vehicles,MAUVs)协同作业必须解决的关键问题.针对主从式MAUVs,提出了一种基于双水听器信号的MAUVs协同定位方法.在主从式结构中,主AUV内部装备高精度导航设备,从AUV内部装备低精度导航设备,外部均装备水声装置测量相对位置关系,从AUV通过水声测量确定出相对距离和相对方位角,再辅以主AUV精确位置,得到从AUV精确位置.研究结果表明,利用主AUV作为协同导航定位,可以显著提高群体的导航定位精度.
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