PARLANGELI , Gianfranco

This paper addresses the observability analysis for the single beacon localization problem of an Autonomous Underwater Vehicle (AUV) modeled as a double integrator where its input is the acceleration in an inertial reference frame and its output (measurement) is its range to a stationary beacon. The nonlinear map between range and position...

The paper addresses the nonlinear observability analysis of the 3D position and orientation (pose) of a nonhonomic oating vehicle based on range only measurements. The problem is of interest in several applications including underwater and aerospace scenarios where two or more vehicles need to estimate their relative pose for navigation...