![](/images/graphics-bg.png)
Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements
Joint Authors
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-10-03
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Aiming at the problem of autonomous underwater vehicle navigation trajectory optimization using single beacon location under direct route condition, a nonlinear system model for AUV single beacon navigation is established, and the linearized system model with error states is constructed by polar coordinate transformation and simplification.
Then, current disturbance is considered.
To find out the optimum path to utilize range-only measurements, a novel observability degree-based analysis method is proposed, which gives a quantitative insight into convergence characteristics of the error states by using the eigenvalues of the normalized error covariance matrix.
Simulation experiments are done to test convergence characteristics of AUV integrated navigation error states with single beacon range-only measurements under direct route control conditions.
The experimental results show that the proposed control method is effective, and it has an important engineering application value and provides us with an optimized path.
American Psychological Association (APA)
Yu, Huapeng& Zhou, Xu. 2018. Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements. Complexity،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1133937
Modern Language Association (MLA)
Yu, Huapeng& Zhou, Xu. Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements. Complexity No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1133937
American Medical Association (AMA)
Yu, Huapeng& Zhou, Xu. Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements. Complexity. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1133937
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1133937