中文摘要：

洋流估计问题是多自主水下航行器（AUV）协同导航方法中的难点之一。针对未知洋流情况,给出了1种基于单领航者的多AUV协同导航方法。通过设计主、从AUV间的机动轨迹,将从AUV的初始定位以及洋流干扰、测速误差的初始估计问题转化为非线性极小平方优化模型求解,提高了初始化精度;并进一步将洋流干扰等作为状态变量参与协同导航过程中的滤波,得到了对从AUV定位和洋流干扰的实时估计。仿真实例表明,该算法实现了对未知洋流的在线估计,具有良好的收敛性和定位精度。

英文摘要：

Ocean current estimation is one of the major difficulties to the cooperative navigation for multiple autonomous underwater vehicles（AUVs）.Aiming at the unknown current,a navigation method for multiple AUVs based on single leader vehicle is presented.By designing the relative motion trajectory between the leader and the follower vehicles,the initial positioning of the flower vehicle,the initial estimation of the current and speed error are transformed into solving a non-linear least squares optimization problem,which effectively improves the initial positioning accuracy.Furthermore,the current disturbance is considered as state variables to participate the filtering process of the cooperative navigation to obtain the real-time estimation of the ocean current and the follower vehicle＇s position.Simulation results show that this navigation method realizes the online estimation of the unknown current and offers good convergence and positioning accuracy.