Optimal distance for moving long baseline positioning system with distance-dependent measurement noise

This article investigates the effect of distance-dependent noise on optimal transponder distance in a moving long baseline positioning system. First, according to the positioning model of the moving long baseline positioning system, the relationship between measurement noises and positioning error is established. Second, a cost function is proposed to evaluate the positioning performance. Then, based on the optimal formation, the optimal distance is deduced. Finally, the relationship between the optimal distance and the parameter for the distance-dependent error is proposed. By using this relationship, the effect of distance-dependent measurement noise on optimal distance is analyzed. Simulation examples illustrate the results.

Optimal Distance between Mobile Buoy and Target for Moving Long Baseline Positioning System

This paper investigates the problem of how to design the distance between a mobile buoy and the target to derive maximum positioning accuracy with a Moving Long Baseline (MLBL). To that end, the positioning model and the error sources of MLBL are derived, respectively. It is assumed that the position measurement of the mobile buoy and the distance measurement between the mobile buoy and the target are corrupted by white Gaussian noises, and the variance of the distance measurement is distance-dependent. Using tools from estimation theory, the Positioning Accuracy Metric (PAM) is designed with the distance error and the position errors are considered. Based on the PAM, the optimal distance between the mobile buoy and target is deduced when the mobile buoys are in optimal geometry. Simulation examples illustrate the results.

Observability Analysis for MAUVs Cooperative Navigation System Based on Moving Long Baseline

This paper addresses the observability problem of 2D Multiple Autonomous Underwater Vehicles (MAUVs) cooperative navigation system. We derive the conditions to keep the local weak observability of navigation system using the Lie derivatives, and characterize the unobservable trajectories of AUVs. We design a series of simulation experiments using the Extended Kalman Filter (EKF) to verify the theoretical results. Finally, the simulation results show that the good performance of navigation system can be presented if avoiding the unobservable trajectories of AUVs.