Relative Pose Observability Analysis for 3D Nonholonomic Vehicles Based on Range Measurements Only

The paper addresses the nonlinear observability analysis of the 3D position and orientation (pose) of a nonhonomic floating vehicle based on range only measurements. The problem is of interest in several applications including underwater and aerospace scenarios where two or more vehicles need to estimate their relative pose for navigation purposes. The observability conditions depend on the system's velocities: observable and unobservable motions are identified for the considered kinematics model. The analysis is a necessary pre-requisite for the design of observer filters for the given nonlinear system.