A Cooperative Localization Algorithm Based on Time Delay Square Root Cubature Kalman Filter for USVs

Aiming at the difficulty and high cost of positioning multiple unmanned surface vessels (USVs), this paper designs a multiple USVs cooperative localization algorithm based on delay square root cubature Kalman filtering. In order to compensate the positioning error caused by the communication delay in the process of cooperative localization, a new filtering method with communication delay is proposed. The measurements are predicted in advance to compensate the state estimation error. The simulation results show that this method can effectively compensate for the positioning error caused by communication delay, and provide a reference for the practice of USVs collaborative positioning engineering.