Observability Analysis for Cooperative Navigation System in Autonomous Underwater Vehicles
Precise navigation of autonomous underwater ve hicles (AUV) is one of the most important challenges for marine applications. Current 2-dimensional (2D) navigation systems (algorithms) are effective to autonomous surface vehicles (ASV) operations, but still have some limitations for AUV navigation in 3D underwater environment. In this paper, a 3D range navigation algorithm is proposed that is potentially useful for small AUVs that have severe volume and power constraints. This algorithm enables an AUV to compute its trajectory in the presence of unknown currents and simultaneously estimate the currents by using range measurements from a single known location (beacon). The principal work here is the observability analysis of the proposed navigation system that characterizes observable AUV trajectories using novel approaches towards uniform observability of linear time varying systems. Then, implementation of the 3D range navigation algorithm as a discrete time extended Kalman filter is given based on the observability results and kinematic model of the system. Finally, a set of comparative simulation results verify the validity of the navigation algorithm and the systems observability related to trajectories.
observability autonomous underwater vehicle navigation system unknown currents extended Kalman filter
Wenbai Li Mingyong Liu Xiaokang Lei Fei Xu
College of Marine Northwestern Polytechnical University Xian, Shaanxi Province,China College of Marine Northwestern Polytechnical University Xian, Shaanxi Province, China School of Computer Science and Engineering Xian Technological University Xian, Shaanxi Province, C
国际会议
厦门
英文
155-161
2010-10-29（万方平台首次上网日期，不代表论文的发表时间）