Single range aided navigation and source localization: observability and filter design

DOI10.1016/j.sysconle.2011.05.004zbMath1236.93028OpenAlexW2145654359WikidataQ59325563 ScholiaQ59325563MaRDI QIDQ411700

Pedro Batista, Carlos Silvestre, Paulo J. Oliveira

Publication date: 30 April 2012

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2011.05.004

zbMATH Keywords

navigation systemssource localization3D linear motion kinematicsobservability of nonlinear systemssingle beacon navigation

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Nonlinear systems in control theory (93C10) Estimation and detection in stochastic control theory (93E10) Automated systems (robots, etc.) in control theory (93C85) Observability (93B07)

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Globally exponentially stable single beacon underwater navigation with unknown sound velocity estimation ⋮ Sensor-Based Long Baseline Navigation: Observability Analysis and Filter Design ⋮ A nonlinear navigation observer using IMU and generic position information ⋮ Position estimation from direction or range measurements ⋮ Attitude estimation for intervention-AUVs working in tandem with autonomous surface craft ⋮ Kalman–Bucy filter-based tracking controller design and experimental validations for a quadcopter with parametric uncertainties and disturbances ⋮ Globally exponentially stable filters for source localization and navigation aided by direction measurements ⋮ Decentralized \(H_2\) observers for position and velocity estimation in vehicle formations with fixed topologies ⋮ Decentralized state observers for range-based position and velocity estimation in acyclic formations with fixed topologies ⋮ Tightly coupled long baseline/ultra-short baseline integrated navigation system ⋮ Long baseline navigation with explicit pseudo-range clock offset and propagation speed estimation ⋮ Decentralised navigation systems for bearing-based position and velocity estimation in tiered formations

Cites Work

• On the observability of linear motion quantities in navigation systems
• Optimization and control of bilinear systems. Theory, algorithms, and applications
• Optimal position and velocity navigation filters for autonomous vehicles
• A continuous time linear adaptive source localization algorithm, robust to persistent drift
• Mathematical programming techniques for sensor networks
• Stochastic processes and filtering theory
• The robustness of controllability and observability of linear time-varying systems
• Nonlinear controllability and observability
• Local observability of nonlinear differential-algebraic equations (DAEs) from the linearization along a trajectory
• Recursive nonlinear observer design: beyond the uniform observability
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