[3] LIU M Y, LI W B. Convex optimization algorithms for cooperative localization in autonomous underwater vehicles[J]. Acta Automatica Sinica, 36, 704-710(2010).

[6] BUCY R S, SENNE K D. Digital synthesis of non-linear filters[J]. Automatica, 7, 287-298(1970).

[7] ZHANG L C, WANG T H, ZHANG F H et al. Cooperative localization for multi-AUVs hased on GM-PHD filters and information entropy theory[J]. Sensors, 17, 1-16(2017).

[8] [8] SUN D J, ZHANG Y N, HAN Y F, et al. Preliminary study on cooperative localization f AUVs[C]2017 IEEE International Conference on Signal Processing, Communications Computing. Xiamen, China: IEEE, 2018: 1–4.

[9] SALAHSHOOR K, MOSALLAEI M, BAYAT M. Centralized and decentralized process and sensor fault monitoring using data fusion based on adaptive extended Kalman filter algorithm[J]. Measurement, 41, 1059-1076(2008).

[10] [10] HIDE C, MOE T, SMITH M. Adaptive Kalman filtering algithms f integrating GPS low cost INS[C]Position Location Navigation Symposium. Monterey, CA, USA: IEEE, 2004: 227–233.

[12] HUANG Y L, ZHANG Y G, XU B. A new adaptive extend Kalman filter for cooperative localization[J]. IEEE Transactions on Aerospace and Electronic Systems, 54, 353-368(2018).

[15] KIM K H, LEE J G, PARK C G. Adaptive two-stage extended Kalman filter for a fault-tolerant INS-GPS loosely coupled system[J]. IEEE Transactions on Aerospace and Electronic Systems, 45, 125-137(2009).