Underwater man-machine hybrid optimal formation configuration analysis and formation generation method

The invention discloses an optimal formation configuration analysis and formation generation method for underwater man-machine hybrid, and belongs to the technical field of cluster cooperation. The method comprises the following steps: firstly, analyzing observability of the man-machine collaborative navigation system by adopting a nonlinear Lie derivative theory, and qualitatively describing a relationship between measurement information and system observability; further, geometric explanation is carried out on the positioning error in the man-machine collaborative navigation process based on the snow-consuming information amount, and an optimal measurement information source in the man-machine collaborative navigation process is quantitatively analyzed; then, on the basis of the optimal measurement information, a man-machine hybrid optimal formation configuration is obtained; and finally, establishing a man-machine optimal formation configuration generation method based on local measurement information. Acc