Observability analysis of DVL/PS aided INS for a maneuvering AUV.

摘要: Recently, ocean exploration has increased considerably through the use of autonomous underwater vehicles (AUV). A key enabling technology is precision AUV navigation capability. In this paper, we focus on understanding limitation system. That is, what are observable error-states for different maneuvering types AUV? Since analyzing performance an system highly complex, to answer above question, current approaches simulations. This, course, limits conclusions emulated type vehicle used and simulation setup. For reason, take a approach analyze observability dynamics by finding set unobservable states. To that end, apply Gramian approach, previously only terrestrial applications. We demonstrate our analysis inertial aided Doppler velocity logger or pressure sensor. The result first prediction standing, rotating at position turning constant speed. Our error states supported extensive numerical simulation.