Observability metric for the relative localization of AUVs based on range and depth measurements: Theory and experiments
Observability metric for the relative localization of AUVs based on range and depth measurements: Theory and experiments
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基于距离和深度测量的 AUV 相对定位的可观测性度量：理论和实验
DOI：
10.1109/iros.2011.6094466
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
A. Pascoal
中科院分区：
文献类型：
--
作者：
F. Arrichiello;G. Antonelli;Antonio Pedro Aguiar;A. Pascoal
本文研究了搭载速度、深度传感器和车间测距装置的两艘auv相对运动的可观测性问题。我们首先利用非线性可观察性概念来分析，使用可观察性等级条件，一些类型的相对AUV运动。由于排名条件只提供关于可观察性的二元信息，因此我们推导了一个特定的可观察性指数（度量），并研究了其与车辆执行的相对运动类型的依赖关系。结果表明，可观测性的退化取决于相对速度矢量和相对位置矢量之间的距离和角度。所解决的问题与单信标定位问题密切相关。因此，在等效的单信标导航场景下，对所得结果进行了实验验证。
This paper addresses the problem of observability of the relative motion of two AUVs equipped with velocity and depth sensors, and inter-vehicle ranging devices. We start by exploiting nonlinear observability concepts to analyze, using observability rank conditions, some types of relative AUV motions. Because rank conditions only provide binary information regarding observability, we then derive a specific observability index (metric) and study its dependence on the types of relative motions executed by the vehicles. In particular, it is shown that the degradation of observability depends on the range and angle between the relative velocity and position vectors. The problem addressed bears affinity with that of single beacon localization. For this reason, the results derived are validated experimentally in a equivalent, single beacon navigation scenario.