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In this study, the cooperative localization algorithm with the factor graph for multi-AUV is investigated. In order to achieve the global estimated solution, we adopt the sum product approach to calculate the variables of the cooperative localization system. The sum-product approach can achieve higher localization accuracy of the AUV. The experiment is designed to verify the effectiveness and superiority of the designed localization approach. To demonstrate the excellence of the proposed algorithm, two comparisons with other filter algorithms are set up. The experiment fully shows the excellence of the cooperative localization algorithm with the factor graph of the theory.

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Multi-AUV Cooperative Positioning Algorithm Based on Factor Graph

  • 会议论文

  • 发表日期：

    2025年

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  • Jian Yang,
  • Hong Zhu,
  • Yabo Wang,
  • Wei Gao,
  • Cai Xu

摘要

In this study, the cooperative localization algorithm with the factor graph for multi-AUV is investigated. In order to achieve the global estimated solution, we adopt the sum product approach to calculate the variables of the cooperative localization system. The sum-product approach can achieve higher localization accuracy of the AUV. The experiment is designed to verify the effectiveness and superiority of the designed localization approach. To demonstrate the excellence of the proposed algorithm, two comparisons with other filter algorithms are set up. The experiment fully shows the excellence of the cooperative localization algorithm with the factor graph of the theory.