中文摘要：

介绍了多无人水下航行器（UUV）协同导航定位的原理,进而详细综述了国内外多UUV协作系统及多UUV协同导航定位系统的研究进展,重点研究和分析了水声测距及通信一体化、协同导航定位算法、协同导航定位观测、水下UUV组网等关键技术的研究特点和发展趋势。研究表明,随着海洋研究的不断深入,多UUV协同导航定位系统的发展将会更注重减小体积质量、适应复杂海洋环境和能源限制方面的研究。

英文摘要：

The principle of multi-UUS （ unmanned underwater vehicle） cooperative navigation and localization is briefly introduced. Then, the developments of muhi-UUV cooperative navigation and localization systems and the relevant studies in theory and practice are reviewed in detail, and the key techniques of integrating underwater ranging and communication, algorithm for cooperative navigation and localization, UUV networking, etc. , are emphatically investigated and analyzed. The study concludes that the research on multi-UUV cooperative navigation and localization tends to optimize the volume and mass of UUVs to meet complex marine environments and energy limitations.