This work was carried out for the purpose of modeling a system for managing a swarm of autonomous boats and improving the localization of the boats in the LABUST pool. To this end, a simulation of autonomous boats was developed with the aim of graphically representing the simulated boats and their combination with physical boats. Additionally, to improve localization, topics such as calibration of measuring instruments and sensor fusion using a linear Kalman filter were considered. The simulation was made with ROS2 node support due to the need for communication with other previously developed applications. For the development of the simulation, the raylib and Dear ImGui libraries were chosen for the graphical and user interface. At the end of the work, software support for the simulation of the swarm of autonomous boats was successfully created, as well as a control model for the same using Reynolds' flocking rules. Additionally, software support for the visualization of sensor data was developed to help compare data after calibration. While the simulation of the autonomous boats was successfully executed, the sensor calibration was not, and the implementation of sensor fusion was not tested. The simulation described in this paper is written in a modular style, making it applicable for educational purposes and thereby fulfilling the main goal of this work.