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Observability analysis of 2D single-beacon navigation in the presence of constant currents for two classes of maneuvers

IR@NIO: CSIR-National Institute Of Oceanography, Goa


Field	Value

Creator	Crasta, N. Bayat, M. Aguiar, A.P. Pascoal, A.M.

Date	2014-09-19T09:54:51Z 2014-09-19T09:54:51Z 2013

Identifier	Proceeding of 9th IFAC Conference on Control Applications in Marine Systems (CAMS 2013), Osaka, Japan, September 17-20, 2013. ed. by: Kazuhiko, H., vol.9; 2013; 227-232 http://drs.nio.org/drs/handle/2264/4599

Description	We analyze the observability properties of an underwater vehicle (moving in 2D) performing single beacon navigation for two specic classes of maneuvers, whereby the vehicle measures its distance to a xed transponder located at a known position using an acoustic ranging device. We show that in the presence of known ocean currents, the system is found to be globally observable for constant relative course and constant (nonzero) relative course rate inputs in the sense of Herman and Krener. On the other hand, with unknown ocean currents the system fails to be locally weakly observable with constant relative course but we characterize the set of indistinguishable states from a given initial position and ocean current conguration. Interestingly, observability can be achieved with constant (nonzero) relative course rate in the presence of unknown, constant ocean currents.

Language	en

Publisher	International Federation of Automatic Control

Rights	Copyright [2013]. All efforts have been made to respect the copyright to the best of our knowledge. Inadvertent omissions, if brought to our notice, stand for correction and withdrawal of document from this repository.

Subject	unmanned vehicles ship motion manoeuvrability navigation underwater autopilots direction finding dynamic positioning

Title	Observability analysis of 2D single-beacon navigation in the presence of constant currents for two classes of maneuvers

Type	Conference Article