06029023

j

06029023 Batista, Pedro Silvestre, Carlos Oliveira, Paulo Single range aided navigation and source localization: observability and filter design. Syst. Control Lett. 60, No. 8, 665-673 (2011). 2011 Elsevier, Amsterdam EN single beacon navigation source localization observability of nonlinear systems 3D linear motion kinematics navigation systems

doi:10.1016/j.sysconle.2011.05.004

Summary: This paper addresses the problems of navigation and source localization by mobile agents based on the range to a single source, in addition to relative velocity readings. The contribution of the paper is two-fold: (i) necessary and sufficient conditions on the observability of the nonlinear system are derived, which are useful for trajectory planning and motion control of the agent; and (ii) a nonlinear system, which given the input and output of the system is regarded as linear time-varying, is proposed and a Kalman filter is applied to successfully estimate the system state. Simulation results are presented in the presence of realistic measurement noise that illustrate the performance achieved with the proposed solution.