Moving horizon estimation for cooperation localization of multiple unmanned underwater vehicles with communication delay

The cooperative localization (CL) problem for multiple unmanned underwater vehicles (MUUVs) with communication delay is considered. In the master-slaver cooperation structure, the master UUV´s relative localization information (RLI) is transmitted to master UUVs via acoustic communication. Due to the terrible underwater environment, measurements are subject to random delay. Moving horizon estimation (MHE) method with DEKF based arrive cost update law is presented in this paper to obtain accurate and reliable estimation of present state. At the end of this paper, simulation results are shown to prove the superiority and practicality of the proposed MHE algorithm.