Underwater acoustic two-way distance-measuring error compensation method applied in dynamic condition of multi-AUV coordinative navigation

The invention discloses an underwater acoustic two-way distance-measuring error compensation method applied in the dynamic condition of a multi-AUV coordinative navigation system. According to the method, at the moment t0, an AUV (a) sends a ranging request command to an AUV (b). At this time, the distance between the AUV (a) and the AUV (b) is a0b0. At the moment t1, the AUV (b) receives the ranging request command sent from the AUV (a). At this time, the propagation distance of an underwater signal is a0b1. After the fixed delay of tau seconds, the AUV (b) sends a reply response signal to the AUV (a) at the moment t2. At this time, the distance between the AUV (b) and the AUV (a) is a2b2. At the moment t3, the AUV (a) receives the reply response signal sent by the AUV (b) and then calculates the underwater acoustic propagation distance according to the round-trip propagation time of the underwater signal. The AUV (a) sends the measured underwater acoustic distance together with its own location information and the speed information thereof in the west, in the north and in the skyward direction to the AUV (b). The AUV (b) receives the information sent by the AUV (a) and then calculates the error of the underwater acoustic distance. Meanwhile, the AUV (b) compensates the underwater acoustic propagation distance based on the error. The method is high in measurement precision and good in cooperative navigation effect.