Performance Analysis of Cooperative Positioning System

In order to study the positioning performance of the Unmanned Surface Vehicle (USV) coordinated positioning system with distance as the observation quantity, this paper analyzes the degree of observability of the system. Because the relative motion relation between the leader USV and the follower USV is closely related to the observability of the follower USV's estimated states, it directly affects the positioning performance of the cooperative positioning system. This paper established a new cooperative coordinate system, and in the coordinate system of leader-follower USV movement model is derived, based on leader-follower USV relative distance observed quantity analysis of master-slave USV co-location system observability. Both the simulation test and the USV water test verify the conclusion analyzed in this paper.