Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5474398 | Ocean Engineering | 2017 | 16 Pages |
Abstract
This paper addresses the observability analysis for the single beacon localization problem of an Autonomous Underwater Vehicle (AUV) modeled as a double integrator where its input is the acceleration in an inertial reference frame and its output (measurement) is its range to a stationary beacon. The nonlinear map between range and position makes the range-based observability problem inherently nonlinear. The observability analysis here proposed addresses two complementary issues: the local weak observability for the nonlinear system, and the global observability for a linear time varying representation of the system derived through a state augmentation method. The proposed methods for observability analysis are discussed in different case studies (e.g. 2D/3D, absence/presence of current, and presence of additional sensors like a Doppler Velocity Logger or a depth gauge). Two different state observers, i.e., an Extended Kalman Filter for the nonlinear system, and a Kalman Filter for the system with augmented state are designed: their performances are analyzed through numerical simulations while validating the derived observability properties.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Ocean Engineering
Authors
Daniela De Palma, Filippo Arrichiello, Gianfranco Parlangeli, Giovanni Indiveri,