中文摘要：

针对多自主水下航行器（AUV）编队中因领航AUV一时无法借助外部有源位置信息进行实时校准，自身定位误差逐渐增大可能导致的编队解体问题，提出了一种基于距离测量双领航AUV间协同导航算法．在给出领航AUV航位推算误差模型的基础上，首先设计两个领航AUV分别基于忽略对方位置误差的估计自身误差的滤波算法，然后提出其位置误差的分别修正算法，最后通过对位置误差估计的可观测性分析，指出在直线航行条件下两个领航AUV可通过加、减速进行相对机动，保证其可观测性．仿真结果表明：两个领航AUV存在航位推算位置误差的情况下，随着滤波时间增加其定位误差可逐渐趋同，并收敛到其经、纬度定位误差的均值，验证了本文所提协同导航算法的可行性和有效性．

英文摘要：

Without the real-time exteroceptive position information to correct, the dead-reckoning error of leader autonomous underwater vehicle （AUV） from the multiple AUV formation will increase gradually, which can lead to the formation collapse. To address this issue, a cooperative navigation algorithm for two leader AUV based on the range measurement is proposed. On the basis of building the dead-reckoning error model, a filtering algorithm is designed to estimate the position errors of two leader AUV, which is based on ignoring each other＇s position error. And then we put forward the correction algorithm of position error for each leader AUV. Finally we analyse the observability about estimated position error, and the analytic result point out that the cooperative navigation system is observability when two leader AUV move by the way of acceleration and deceleration along the straight line trajectory. The simulation results show that： the position errors of two leader AUV with initial position error and dead-reckoning error will vary along the same direction, and converge to the average of their longitude and latitude errors with the growth of filtering time, which verify that the proposed cooperative navigation algorithm is feasible and effective.