Range–only navigation – maximizing system observability by using extremum seeking <ce:cross-ref id='cecref0059' refid='fn1'> <ce:sup loc='post'>?</ce:sup> </ce:cross-ref>

Filip Mandi?; Nikola Mi?kovi?; Zoran Vuki?

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Range–only navigation – maximizing system observability by using extremum seeking ?

机译：仅范围导航–使用极值搜索？

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Mobile beacon vehicles can be used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. Using mobile beacon removes constraints imposed on the underwater vehicle trajectory because mobile beacon executes trajectories that ensure persistent range measurements. In this paper extremum seeking based control of beacon vehicle which ensures good observability with small communication overhead is proposed. First cost function which gives measure of observability is derived. In addition, extremum seeking loop for steering mobile beacon is presented. Finally, simulation results of proposed algorithm are presented.

机译：当使用单程测量进行导航时，移动信标车可用作自主水下航行器的导航辅助。使用移动信标消除了对水下航行器轨迹施加的约束，因为移动信标执行的轨迹可确保进行持续的距离测量。本文提出了一种基于极值搜索的信标车控制方法，该方法可确保良好的可观察性和较小的通信开销。推导得出可观察性度量的第一成本函数。另外，提出了用于引导移动信标的极值搜索环。最后，给出了该算法的仿真结果。

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来源
《IFAC PapersOnLine》 |2015年第16期|共6页
作者
Filip Mandi?; Nikola Mi?kovi?; Zoran Vuki?;
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中图分类自动化技术、计算机技术;
关键词
Extremum seekingAutonomous vehiclesKalman filtersObservability indicesMarine systems;

机译：寻求极端自动驾驶汽车卡尔曼滤波器可观察性指标海洋系统;

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Range–only navigation – maximizing system observability by using extremum seeking ?

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