This study considers cooperative localisation and exploration of multiple unmanned underwater vehicles. The author assumes that one vehicle, called the communication/navigation aid (CNA), moves near the sea surface and that the vehicle can use a global positioning system (GPS) to localise itself. To explore a deep sea, the author's strategy is to make each vehicle move at a distinct depth such that a communication link is maintained during the manoeuvre. For cooperative localisation and exploration, the CNA uses GPS to localise itself, while each vehicle measures the bearing and range of its nearby vehicle and has a depth sensor to measure its depth. The effectiveness of the proposed control scheme is verified utilising MATLAB simulations.

中文翻译：

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使用多个无人水下航行器进行深海勘探的合作定位

本研究考虑了协同定位和多种无人水下航行器的探索。作者假设一种称为通讯/导航辅助（CNA）的车辆在海面附近移动，并且该车辆可以使用全球定位系统（GPS）对其自身进行定位。为了探索深海，作者的策略是使每辆车移动到不同的深度，以便在操纵过程中保持通讯联系。为了进行协作定位和探索，CNA使用GPS对其自身进行定位，而每辆车都会测量其附近车辆的方位和范围，并具有深度传感器来测量其深度。利用MATLAB仿真验证了所提出控制方案的有效性。