ABSTRACT
Autonomous underwater vehicle (AUV) navigation and localization in underwater environments is particularly challenging due to the rapid attenuation of global positioning system (GPS) and radio-frequency signals. The absence of GPS signals underwater makes navigation and localization for AUVs a difficult challenge. The concept of cooperative localization and cooperative navigation for multiple AUVs was proposed, which will increase the aforementioned accuracy. AUV CL and navigation is a relatively new research direction. Multi-AUV underwater collaborative navigation uses underwater acoustic equipment for information exchange. The follower AUV receives leader AUV's position information and measures distance and orientation information from the leader AUV by underwater sound. The observability of the navigation system refers to whether the AUV's estimation of the system state quantity at each sampling instant can be solved by the relative observation between the AUV and the beacon. The information entropy is used to reflect the quality of the surrounding observation data available to the AUV in the network.
