Geomagnetic Matching Aided Unmanned Surface Vehicle Cooperative Positioning Method

Due to the complex maritime environment, satellite navigation is easily interfered by weather, radio, etc., and the error of inertial navigation will accumulate rapidly with the increase of sailing time, the existing cooperative positioning methods cannot meet the accuracy and stability of Unmanned Surface Vehicle (USV) clusters to realize rescue at sea. Aiming at the above problems, this paper proposes a Geomagnetic Matching Cooperative Positioning Method for Unmanned Surface Vehicle Based on Geometric Information (GMCP-GI) for USV clusters based on geometric information. Simulation results show that the proposed g GMCP-GI for USVs can realize the cooperative positioning of USV clusters and can effectively improve the positioning accuracy and stability.