Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements
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 coo...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/4056870 |
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| _version_ | 1850162971035041792 |
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| author | Huapeng Yu Xu Zhou |
| author_facet | Huapeng Yu Xu Zhou |
| author_sort | Huapeng Yu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-eecc2d6ea693455ca460c6fc87d2ba2e |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-eecc2d6ea693455ca460c6fc87d2ba2e2025-08-20T02:22:25ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/40568704056870Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only MeasurementsHuapeng Yu0Xu Zhou1National Innovation Institute of Defense Technology, Academy of Military Sciences PLA China, Beijing 100010, ChinaCollege of IoT Engineering, Hohai University, Changzhou 213022, ChinaAiming 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.http://dx.doi.org/10.1155/2018/4056870 |
| spellingShingle | Huapeng Yu Xu Zhou Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements Complexity |
| title | Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements |
| title_full | Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements |
| title_fullStr | Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements |
| title_full_unstemmed | Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements |
| title_short | Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements |
| title_sort | observability degree based auv single beacon navigation trajectory optimization with range only measurements |
| url | http://dx.doi.org/10.1155/2018/4056870 |
| work_keys_str_mv | AT huapengyu observabilitydegreebasedauvsinglebeaconnavigationtrajectoryoptimizationwithrangeonlymeasurements AT xuzhou observabilitydegreebasedauvsinglebeaconnavigationtrajectoryoptimizationwithrangeonlymeasurements |