Multi-AUV Cooperative Navigation Algorithm Based on Factor Graph With Stretching Nodes' Strategy - Ben, Yueyang; Sun, Yan; Li, Qian; Huang, Hongdian; Gong, Sheng (IEEE transactions on instrumentation and measurement, 2024)
Keywords: Accuracy; Algorithms; Autonomous navigation; Autonomous underwater vehicles; Clustering algorithms; Cooperative navigation (CN); Current measurement; Estimation; factor graph (FG); Iterative methods; Localization; Messages; Navigation; Nodes; Ocean currents; Oceans; Sea measurements; State space models; Stretching; stretching nodes’ strategy; sum-product algorithm (SPA)