Research on the Multi-ships Cooperative Dilution of Precision Positioning Model in the Alert Water Environments

Abstract

Currently, ship positioning mainly depends on the Global Navigation Satellite System (GNSS). Once the onboard navigation equipment malfunctions or the signal is artificially interfered with , the ship will be unable to position normally, and the navigation safety will also be threatened. To address the issue of how ships are positioned when the navigation system fails, a positioning model based on the Cooperative Dilution of Precision (CDOP) is proposed. This model expands the observables of the traditional satellite positioning system and adds the ranging information between ship nodes. Through the establishment of the CDOP model, the geometric configuration of the original ship navigation system is significantly improved. It has been demonstrated through theory and experiments that under the same measurement error conditions, the cooperative positioning accuracy of any user is superior to that of non-cooperative positioning, thereby enhancing the early warning and service information capabilities of the ship navigation system.