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Observability analysis for a cooperative range-based navigation system that uses a rotating single beacon

dc.contributor.authorRúa S
dc.contributor.authorVásquez R.E
dc.contributor.authorCrasta N
dc.contributor.authorBetancur M.J
dc.contributor.authorPascoal A.
dc.date.accessioned2022-09-14T14:33:56Z
dc.date.available2022-09-14T14:33:56Z
dc.date.created2022
dc.identifier.issn298018
dc.identifier.urihttp://hdl.handle.net/11407/7526
dc.descriptionThis work addresses the observability analysis for a cooperative range-based navigation system that uses a beacon with circular motion installed on-board the support platform to find the location of an underwater vehicle. First, the observability analysis is carried out without taking into account the ocean current that affects the vehicle. To that end, an augmented state-space realization is obtained in order to convert the nonlinear system into a linear time varying (LTV) system. Then, the observability analysis is performed considering constraints on the initial conditions due to the state transformation. Based on these results, a second observability analysis is carried out taking into account ocean current in the model. We show that, by knowing the initial beacon's position, the system is observable when the vehicle is moving in a trim trajectory with and without ocean currents. The obtained results include information about the initial conditions of the beacon and the ocean currents in the observability analysis. This result is important from a theoretical point of view, and represents a new way of implementing range-based navigation systems, without relying on deviation of the vehicle's mission or the need of another vehicle to ensure observability. © 2022 Elsevier Ltdeng
dc.language.isoeng
dc.publisherElsevier Ltd
dc.relation.isversionofhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85124454948&doi=10.1016%2fj.oceaneng.2022.110697&partnerID=40&md5=4f98e685e7536bcf80a598bade08a28a
dc.sourceOcean Engineering
dc.titleObservability analysis for a cooperative range-based navigation system that uses a rotating single beacon
dc.typeArticle
dc.rights.accessrightsinfo:eu-repo/semantics/restrictedAccess
dc.publisher.programIngeniería de Telecomunicaciones
dc.type.spaArtículo
dc.identifier.doi10.1016/j.oceaneng.2022.110697
dc.subject.keywordAcoustic navigationeng
dc.subject.keywordCooperative controleng
dc.subject.keywordNavigation, guidance and controleng
dc.subject.keywordObservability analysiseng
dc.subject.keywordOcean explorationeng
dc.subject.keywordUnderwater vehicleseng
dc.relation.citationvolume248
dc.publisher.facultyFacultad de Ingenierías
dc.affiliationRúa, S., School of Engineering, Universidad de Medellín, Carrera 87 # 30-65, Medellín, 050026, Colombia, School of Engineering, Universidad Pontificia Bolivariana, Circular 1 # 70-01, Medellín, 050031, Colombia
dc.affiliationVásquez, R.E., School of Engineering, Universidad Pontificia Bolivariana, Circular 1 # 70-01, Medellín, 050031, Colombia
dc.affiliationCrasta, N., Laboratory of Robotics and Systems in Engineering and Science (LARSyS), IST/University of Lisbon, Av. Rovisco Pais, 1, Lisbon, 1049-001, Portugal
dc.affiliationBetancur, M.J., School of Engineering, Universidad Pontificia Bolivariana, Circular 1 # 70-01, Medellín, 050031, Colombia
dc.affiliationPascoal, A., Laboratory of Robotics and Systems in Engineering and Science (LARSyS), IST/University of Lisbon, Av. Rovisco Pais, 1, Lisbon, 1049-001, Portugal
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dc.type.coarhttp://purl.org/coar/resource_type/c_6501
dc.type.versioninfo:eu-repo/semantics/publishedVersion
dc.type.driverinfo:eu-repo/semantics/article
dc.identifier.reponamereponame:Repositorio Institucional Universidad de Medellín
dc.identifier.repourlrepourl:https://repository.udem.edu.co/
dc.identifier.instnameinstname:Universidad de Medellín


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