Abstract
This paper addresses the collaborative localization problem for unmanned surface vehicle (USV) clusters with random measurement delays. We propose a Cubature Kalman Hybrid Consensus Filter (CKHCF) based on the cubature Kalman filter (CKF) for widely distributed USV clusters lacking global communication capabilities. In this approach, each USV exchanges two pairs of information with all its neighbors and recalculates the received localization data based on distance and relative angle measurements. The recalculated information is then fused with the locally filtered data and updated to obtain localization information based on global measurements. To mitigate the impact of random measurement delays, we employ one-step prediction to compensate for delayed measurements. We present the derivation of the CKHCF algorithm and prove its consistency and boundedness using mathematical induction. Finally, we validate the effectiveness of the proposed algorithm through simulation experiments.