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

Table 3

Parameters of USVs and target in general formation.

Vehicle	Initial position (m)	Forward speed (knots)	Heading (°)	Pitch (°)
USV1	(400,0,0)	3	90–0.25 t	0
USV2	(0,400,0)	1.5	90	0
USV3	(−400,0,0)	1	90-2 t	0
USV4	(0,−400,0)	2	90–0.5 t	0