Cooperative Localization of USV in Heterogeneous Sensor Networks: A Consensus-Based Estimation Approach

Conventional localization of unmanned surface vehicle (USV) predominantly relies on a single integrated navigation system, typically comprising a global navigation satellite system (GNSS) and an inertial navigation system. However, the GNSS signals are vulnerable to external perturbations, which can substantially compromise the positioning accuracy. To achieve high-precision positioning of USV, this article investigates the cooperative localization problem for a class of USV in peer-to-peer hete