中文摘要：

针对现有自主水下航行器（autonomous underwater vehicle，AUV）水下高精度定位技术的不足，基于水面全球定位系统智能浮标技术和移动长基线技术，提出一种基于多无人水面船（unmanned surface vehicle， USV）的水下定位方法。重点利用克拉美罗下界和费希尔信息矩阵理论建立了定位系统的定位性能评价函数，通过评价函数极大化方法，分析了三维空间定位系统中 USV/USV 以及 USV/AUV 之间的相对队形结构对定位性能的影响。此外，分析了最优队形结构条件下，定位性能相对于较小的距离值偏差以及角度值偏差的敏感性变化问题。最后，仿真实验结果证明了结论的有效性。

英文摘要：

Aiming at the shortcomings of existing underwater high precision positioning technologies for the autonomous underwater vehicle （AUV）,an underwater positioning system based on the unmanned surface vehi-cle （USV）is designed using the intelligent buoys technology and the moving long baseline technology of the global positioning system.An evaluation function is established on the knowledge of the Cramer-Rao lower bound and the Fisher information matrix.The influence of the relative formation geometries of the USV/USV and USV/AUV on the positioning performance is analyzed by maximization of the evaluation function in three-dimension.Subsequently,the sensitivity of the positioning performance to small distance deviations and small angle deviations from the optimal geometry is investigated.Finally,simulation results show the effectiveness of the function and the system.