Formation Optimization of USVs for Positioning Underwater Target Based on Moving Long Baseline

In the positioning system with moving long baseline, formation of unmanned surface vehicles(USVs) and their relative position to the positioned target significantly influence the positioning accuracy. In this paper, we design an accuracy evaluation function based on spherical intersection method to investigate the factors influencing the positioning accuracy, such as the USVs formation, the relative position of target and the USVs formation, and the measurement pre-cision. Inference proves that the highest positioning accuracy can be achieved when the target is located in the perpen-dicular bisector of a square array which is composed of four USVs. Simulation result shows that USVs formation has a significant influence on the positioning accuracy.