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Autonomous Underwater Vehicle (AUV) is an intelligent robot with high mobility and a large maneuvering range, which can operate and perform tasks autonomously in an underwater environment. As the current academic community's research on AUV theory and engineering applications gradually deepens, the mission requirements of AUVs are increasingly expanding, and the task complexity is gradually increasing. However, due to the limited energy of the AUV and the interference of the environment in complex sea conditions, the limitations of the operating efficiency and performance of individual AUVs have become increasingly obvious. Furthermore, forming a fleet of multiple AUVs for collaborative operations is an important way to improve work efficiency, expand system fault tolerance, and improve reliability and safety. However, the underwater environment is complex and changeable, and AUV spatial motion is strongly coupled, making it challenging to establish an accurate mathematical modeland determine accurate model parameters.