State Estimation of Multi-AUV Cooperative Navigation System with Uncertain Observation Loss

In AUV underwater cooperative navigation, the observations between different AUVs may be lost with a probability because of the influence of complex noise and communication channels. When the observation is lost, the nonlinear Kalman filtering cannot obtain high-precision positioning accuracy. In this paper, a minimum variance state estimation method based on observation model and state augmented method is used to improve the AUV cooperative navigation accuracy. Simulation results shows the effectiveness of the nonlinear filtering.