针对多水下自治机器人（UUV）协同定位模型中的非线性问题，本文提出利用滚动时域估计（MHE）方法对协同定位状态空间模型进行最优状态估计，通过仿真试验，证明了该方法的可行性。
Aiming at the non-liner problem of the cooperation localization model of MUUVs, the paper proposed a Moving Horizon Estimation method to get the optimization eatate estimation of cooperation localization, the theoretical analysis and experimental results proved the high accuracy and availability of the proposed method.
2017,(): 81-85 收稿日期：2017-07-26
DOI：10.3404/j.issn.1672-7649.2017.12.017
分类号：TB566
作者简介：杨建(1987-),男,工程师,主要从事舰船导航、多UUV协同定位研究
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