Co-location Technology for Weak-connected AUVs Based on Mobile Relay Station

Aiming at the problem of weak connectivity in AUVs co-location system, this paper proposes a coordinated positioning method based on mobile relay station according to beyond visual range (BVP)method, which provides a new idea for solving the problem of cooperative positioning of weak-connected AUV. Firstly, the co-location system proposed in this paper is explained in detail, and it can be divided into two sublevel systems. Secondly, two covariance matrices are visualized by the information ellipse. Then, two information ellipses are synthesized by the convolution of normal law on the plane, and the performance evaluation criteria is established by the size of the ellipse area. Finally, by analyzing the performance evaluation criteria, the error transfer of this method is emphatically studied, and the influence of the location of mobile relay station on the positioning performance of weak-connected AUV is determined. The simulation results verify the validity of the cooperative localization algorithm and the correctness of the performance evaluation criteria.

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