Toward underwater navigation based on range measurements from a single location

Navigation technology is considered that enables an underwater vehicle to compute its trajectory in real-time by utilizing range measurements from a single known location. This concept is especially attractive for small underwater vehicles where more traditional navigation technology is prohibitive...

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Bibliographic Details
Main Authors: Gadre, A.S., Stilwell, D.J.
Format: Conference Proceeding
Language:English
Subjects:
Acoustic pulses
Applied sciences
Computer science
control theory
systems
Computer vision
Control theory. Systems
Exact sciences and technology
Filters
Information analysis
Modelling and identification
Navigation
Observability
Target tracking
Underwater acoustics
Vehicle dynamics
Vehicles
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Description
Summary:Navigation technology is considered that enables an underwater vehicle to compute its trajectory in real-time by utilizing range measurements from a single known location. This concept is especially attractive for small underwater vehicles where more traditional navigation technology is prohibitive due to volume constraints. By assessing local observability of the underwater vehicle and available measurements about potential vehicle trajectories, we explicitly characterize those trajectories that can be asymptotically estimated. It is shown that all but a small class of trajectories can be estimated.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1302422