Multi-boat collaborative navigation method based on observable analysis

The invention relates to a multi-boat collaborative navigation method based on observable analysis. The multi-boat collaborative navigation method comprises the steps of determining at least one circumference with a connecting line of any two pilot boats in a plurality of pilot boats as a diameter; and allowing a following boat always locating on the circumference during a driving process, so that observability of the system can be increased. By using the multi-boat collaborative navigation method provided by the invention in a process of moving toward an object, a predetermined formation can be kept between the pilot boats and the following boat; collaborative positional accuracy can be increased; and normal work of underwater acoustic communication and measurement distance can be guaranteed.