USV Cluster Cooperative Navigation Algorithm based on factor graph

Abstract

Cooperative navigation is one of the critical technologies that must be tackled for Unmanned surface vehicle(USV) clusters to perform missions. It adopts decentralized decoupling structure and uses USV's own radar or photoelectric sensors to measure the relative distance and relative azimuth between USVs, and establishes a factor graph-based cooperative navigation algorithm to achieve high-precision cooperative positioning of USV clusters. Lora ad hoc network is used to realize the sharing of measurement information between USVs. Through the navigation experiments of USV clusters, the results show that the algorithm can improve the accuracy of cooperative positioning of low navigation accuracy USVs.