中文摘要：

研究了主从式多无人水下航行器（UUV）协作系统的协同定位方式,并针对协同定位过程中存在的水声通信和探测时延问题,提出了基于主UUV航迹预测的无状态逆推的非等间隔实时更新（IIRU）定位方法,用于提高从UUV的协同定位精度.该方法采用统计建模方法对主UUV航迹进行预测,用于从UUV相对距离量测的实时更新,并基于非等间隔滤波,设计了针对不同类型传感器的实时滤波方法.仿真结果验证了所提定位算法在存在通信时延下的有效性.

英文摘要：

A manner of cooperative localization for master-slave multiple UUVs（unmanned underwater vehicles） is investigated. To solve the problem of acoustic communicating and measurement delay during cooperative localization,based on path prediction of master UUV,an incoordinate interval real-time update（IIRU） method without state reverse is proposed to improve the accuracy of the slave UUV localization.In order to update the relative ranging measurements in real-time,the method firstly predicts the path of the master UUV using a statistics modeling method.In addition,based on the incoordinate interval algorithm,real-time updating algorithms are designed corresponding to the different types of sensors.Simulation results prove the efficiency of the proposed method with communication delays.