Underwater navigation and localization using single range measurements
نویسنده
چکیده
Underwater navigation and localization using single range measurements presents low–cost alternative to well established underwater localization systems. In this paper, single range localization with respect to stationary and mobile beacon is presented. Also, observability properties of single range localization systems are given and vehicle trajectories which ensure observability are characterized. It is shown that mobile beacon vehicles can be used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. Its use removes constraints imposed on the underwater vehicle trajectory because mobile beacon executes trajectories that ensure persistently exciting range measurements. Path planning algorithms for mobile beacon vehicles which ensure good system observability are shown. Finally, source– seeking using extremum seeking algorithm is presented.
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