Simulation experiment platform for multi-AUV underwater cooperative operation

The invention discloses a simulation experiment platform for multi-AUV underwater cooperative operation. The platform is a multi-AUV cooperative platform obtained by expanding a plurality of single AUV simulation platforms which communicate with one another. The upper computer and the remote control ship assembly or the ROV form a single AUV simulation platform. Sensor information of the simulatedAUV is collected, each single AUV simulation platform carries an MOOS platform on an upper computer, and the single AUV simulation platform is composed of a data communication module, a fusion navigation module, a planning decision module and a motion control module. According to the design, a multi-AUV message communication scheme is realized, and the reliability is ensured by using a heartbeatdetection mechanism; multi-source sensor information with different rates can be fused, the problem of sensor measurement delay is solved, outliers can be automatically detected and eliminated, and the navigation precision is