Title: Observability analysis of the simultaneous underwater vehicle localization and mapping based on ranging measurements
Authors: A. Pedro Aguiar , Mohammadreza Bayat
Abstract: The localization of an autonomous underwater vehicle (AUV) is a challenging and important problem in marine robotics. In this paper we investigate the observability problem of the process of Simultaneous Localization and Mapping (SLAM) of an AUV equipped with inertial sensors, a depth sensor, and an acoustic ranging device that provides relative range measurements to stationary beacons. For the case that the motion of the AUV corresponds to constant linear and angular velocities (expressed in the body-frame), also known as trimming or steady-state trajectories, we provide conditions under which it is possible to reconstruct the initial state of the resulting SLAM system (and in particular the position of the AUV). We show that the unobservable subspace UO restricted to the assumption that the position of one of the beacons or the initial position of the AUV is known, contains only the zero vector with exception of a particular case where the UO is composed by a finite set of isolated points. Numerical tests that illustrate the results derived are presented and discussed.
Publication date: 2012-07-16
Online entry date: 2013-05-08
Conference: CONTROLO’2012
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