Cooperative range-based navigation using a beacon with circular motion installed on board the support platform

Santiago Rúa, Naveen Crasta, Rafael E. Vásquez, Manuel J. Betancur, Antonio M. Pascoal

    Research output: Contribution to journalConference articlepeer-review

    2 Scopus citations

    Abstract

    This 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. A nonlinear model is first obtained in order to describe the motion of the vehicle and the beacon, that is attached to the tip of a 1 DoF rotating arm (deployed from a stationary support platform or vessel). A state-space realization is obtained and augmented in order to convert the nonlinear system into a Linear Time Varying (LTV) system. Then, the observability analysis is performed for the new system considering its equivalence since the state trajectories of the LTV system have one-to-one correspondence to the state trajectories of the nonlinear system. We show that, when the vehicle moves in circles or in straight lines, it is possible to ensure observability by rotating the arm that has the beacon attached. 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.

    Original languageEnglish
    Pages (from-to)390-395
    Number of pages6
    JournalIFAC-PapersOnLine
    Volume52
    Issue number21
    DOIs
    StatePublished - 2019
    Event12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2019 - Daejeon, Korea, Republic of
    Duration: 18 Sep 201920 Sep 2019

    Bibliographical note

    Funding Information:
    Tˇis work was funded bffi tˇe Fondo Nacional de Fi-nanciamiento para la Ciencia, la Tecnoloflía ffi la Inno-vación, Francisco Joséde Caldas; Ecopetrol; tˇe Universi-dad Pontificia Bolivariana; and tˇe Universidad Nacional de Colombia; project 1210-531-30550.

    Publisher Copyright:
    © 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

    Keywords

    • Acoustic-Based Networked Control
    • Control system design
    • Cooperative control
    • Navigation
    • Underwater vehicles
    • Vehicle guidance
    • applications
    • navigation

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