A Novel Adaptive Sliding Observation-Based Cooperative Positioning Algorithm Under Factor Graph Framework for Multiple UUVs

In the leader–follower-based multiple underwater unmanned vehicles (UUVs) cooperative positioning system, precision of compass and Doppler velocity log equipped with follower UUV is low, which will inevitably lead to yaw error (YEaVE) in output data. These errors seriously affect accuracy UUV. addition, observation information often has many outliers due influence multipath, cause increase error. Herein, we propose a novel adaptive sliding observation-based algorithm under factor graph framework. First, mechanism YEaVE on analyzed. Thereafter, framework, based maximum correntropy criterion designed estimation compensation are innovatively added. At last, an method deal information. The proposed verified by simulations shipboard experiment, results show that it can accurately estimate YEaVE. same time, compared ordinary algorithm, been improved 88.31% 81.63% simulation experiment.