Patent · US Active

Cooperative positioning system and method for unmanned underwater vehicle (UUV) cluster based on ranging and information interaction

US12330760B2 · kind B2 · utility

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3Claims

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Assignee

ZHEJIANG UNIVERSITY · CN

Inventors

Huifang Chen · Keyano, CA
Lei Xie · Nanhu, CN
Feng Liu · Salt Lake City, US
Wen Xu · Beijing, CN

Key dates

Filing date	May 12, 2023
Grant date	Jun 17, 2025
Priority date	—
Expiry date	Feb 5, 2044

Classification

Technology area (CPC B)Performing Operations; Transporting
CPC primaryB63G2008/004
WIPO fieldTransport
WIPO sectorMechanical engineering

Abstract

Some embodiments of the disclosure provide a cooperative positioning system and method for an unmanned underwater vehicle (UUV) cluster based on ranging and information interaction. In some examples, the cooperative positioning system includes one master UUV, multiple slave UUVs, and a cooperative positioning apparatus. In some examples, the cooperative positioning method includes following steps. A master UUV and a slave UUV perform internal clock disciplining. The master UUV periodically packages a location of the master UUV and a covariance matrix of location estimation into a cooperative positioning data packet and broadcasts the cooperative positioning data packet to slave UUVs of a cluster. The slave UUV receives the cooperative positioning data packet. A cooperative positioning apparatus of the salve UUV constructs a state and a measurement equation according to data. The cooperative positioning apparatus calculates and obtains a cooperative positioning result by using an extended Kalman filter (EKF).

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.