A Single Beacon-aided Cooperative Localization Algorithm based on Maximum Correntropy Criterion

Accurate cooperative localization (CL) is a crucial requirement for multi-AUVs operation. However, the Velocity Uncertainty (VU) measured by DVL (Doppler Velocity Logger) in certain environments makes it challenging for master-slaver CL. A single beacon-aided CL positioning method based on Maximum Correntropy Criterion (MCC) is proposed in this paper. Firstly, a velocity correction method is presented to deal with the problem of VU. Then a circular intersection solving method relying on time transmission delay is adopted to achieve slaver AUV's location. In which a judging rule is designed to distinguish mirror solutions in circular intersection equations. Simulation results verify that the proposed algorithm can achieve a high localization accuracy with velocity uncertainty.