中文摘要：

基于距离量测提出了多自主水下航行器（AUV）移动长基线定位系统，融合内部与外部传感信息进行从AUV水下定位。针对定位系统中AUV队形对定位性能造成的影响，基于Cramer—Rao下界（CRLB）和Fisher信息阵（FIM）建立了多AUV移动长基线定位系统定位性能评价函数，通过评价函数极大化实现定位性能最优化。重点研究了双领航者定位系统的最优队形，其最优队形为两个领航AUV与从AUV以90°分离角相对运动，且最优队形与AUV间的距离无关。仿真实验分别从间距及分离角两个方面对结论进行了验证。

英文摘要：

A cooperative localization method for multiple autonomous underwater vehicles （AUV） based on moving long baseline （MLBL） and range observation was presented, the internal and external informa- tion was fused to locate the follower. Considered the influence of AUV formation on the localization per- formance, an evaluation criterion based on Cramer-Rao lower bound （CRLB） and Fisher information ma- trix （FIM） was developed to derive the optimal formation configuration. The optimal formation of cooper- ative localization with two leaders was studied, and the optimal formation with the separation angle of 90° between the leaders and follower was found out. Simulations were performed to evaluate the conclusions from two aspects of range and separation angle, respectively.