Depth Information Integrated Pose Graph Optimization for Multiple UUVs

Abstract

Dear Editor, This letter investigates the pose estimation problem of multiple unmanned underwater vehicles (UUVs), which suffers from significant accuracy fluctuations due to the harsh underwater environments. Traditional methods rely solely on the observations of individual UUV, leading to the lack of robustness and low accuracy. Aiming at this problem, the designed algorithm enhances estimation accuracy by integrating depth information and relative observations, deriving a stable and fast pose update formula. Through simulations, the advantages of the proposed algorithm are verified by comparisons with different alternative ones.