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

DOI10.1016/J.SYSCONLE.2011.05.004zbMATH Open1236.93028DBLPjournals/scl/BatistaSO11aOpenAlexW2145654359WikidataQ59325563 ScholiaQ59325563MaRDI QIDQ411700FDOQ411700

Authors: Pedro Batista, Carlos Silvestre, P. 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

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zbMATH Keywords

source localization3D linear motion kinematicsnavigation systemsobservability of nonlinear systemssingle beacon navigation

Mathematics Subject Classification ID

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

Cites Work

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

Cited In (13)

• Long baseline navigation with explicit pseudo-range clock offset and propagation speed estimation
• A nonlinear navigation observer using IMU and generic position information
• Decentralised navigation systems for bearing-based position and velocity estimation in tiered formations
• Decentralized \(H_2\) observers for position and velocity estimation in vehicle formations with fixed topologies
• Position estimation from direction or range measurements
• Globally exponentially stable single beacon underwater navigation with unknown sound velocity estimation
• Observability conditions for multiple signal direction finding and array sensor localization
• Tightly coupled long baseline/ultra-short baseline integrated navigation system
• Sensor-based long baseline navigation: observability analysis and filter design
• 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 state observers for range-based position and velocity estimation in acyclic formations with fixed topologies
• Attitude estimation for intervention-AUVs working in tandem with autonomous surface craft

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