Multi-AUV cooperative localization system without bottom tracking velocity assistance

Abstract Multi-autonomous underwater vehicle (multi-AUV) collaborative systems have become critical platforms for underwater topographic mapping, yet suffer from compromised mapping accuracy due to acoustic interference between the multibeam echosounder and the Doppler velocity log (DVL), which impedes DVL-aided inertial navigation system velocity error correction during navigation. In this paper, we propose a multi-AUV collaborative system for bathymetric mapping, in which only the master AUV carries a DVL, and the slave AUVs estimate their own positions by a proposed graph-based moving single beacon localization algorithm, which fuses inertial navigation information (without DVL assistance) and range measurements between master and slave AUVs to accurately construct seafloor topographic maps. Notably, an assistant beacon method enhances positioning validity, and an optimal formation configuration minimizing positioning error is established through horizontal dilution of precision analysis. Comprehensive simulation experiments validate the system’s positioning performance.