Cooperative Navigation of Multiple Torpedoes with Communication Delays

Focused on the acoustic communication delay problem with multi-torpedoes cooperative navigation,based on the Synchronous-Clock range measurement and delayed communication information,an unbiased state and consistent covariance estimate algorithm is proposed.The algorithm can computer the measurement innovation covariance exactly,control the increasing of torpedoes' position error with communication delays,and gain the accurate position of torpedoes.Simulation results prove that the algorithm can prove the navigation performance efficiently under short communication delays.