两船协同导航，利用EKF滤波，主要用于主从式的协同导航，滤波参数要根据实际需要合理调节-Collaborative navigation of both vessels, the use of the EKF filter, mainly used for the master-slave collaboration navigation filter parameters according to the actual needs of a reasonable adjustment

利用扩展卡尔曼滤波，进行双艇协同导航，距离量测信息加入，主从式结构(Using extended Kalman filter, double-vessel coordinated navigation, distance measurement information to join, master-slave structure)

基于CKF滤波的双领航AUV交替领航模式，滤波效果准确，明显。(CKF - based dual pilot AUV alternate pilot mode, the filtering effect is accurate and obvious.)