Cooperative location of multiple UUVs based on hydro-acoustic communication delay

Considering the positioning failure caused by the communication delay during cooperative location of multiple unmanned underwater vehicles (UUV), a delayed extended Kalman filter (DEKF) method for loca-lization error correction is proposed which is based on least mean square error of state estimation. Firstly, the system state equation with hydro-acoustic communication delay is established, and the measure equation of multiple UUVs is derived using the system state transition matrix. Then we introduce the extended Kalman filter (EKF) localization algorithm for cooperative location of multiple UUVs considering hydro-acoustic communication delay, and analyze the disadvantages of this method. Finally, on the basis of EKF, through analyzing the influence of measure information delay to state estimation, the equivalent measurement model is established and the DEKF algorithm based on least mean square error of state estimation is designed. The simulation results show that this method can effectively correct localization errors caused by communication delay during the cooperative location, which is of great significance in engineering practice.