Optimal Position and Velocity Estimation for Multi-USV Positioning Systems with Range Measurements

Table 2

Parameters of USVs and target in optimal formation.

Vehicle	Initial position (m)	Forward speed (knots)	Heading (°)	Pitch (°)
Target	(0,0,300)	2.0003	90–0.5 t	1
USV1	(400,0,0)	2	90–0.5 t	0
USV2	(0,400,0)	2	90–0.5 t	0
USV3	(−400,0,0)	2	90–0.5 t	0
USV3	(0,−400,0)	2	90–0.5 t	0