TY - GEN
T1 - Observability analysis of underwater localization based on fisher information matrix
AU - Fang, Xinpeng
AU - Yan, Weisheng
AU - Wang, Yintao
AU - Wang, Zijian
PY - 2013/10/18
Y1 - 2013/10/18
N2 - Observability property has a very practical meaning in the underwater localization. This paper presents the observability of underwater localization based on the moving long baseline from the aspect of Fisher information matrix, which characterizes the amount of information provided by the measurements in the localization. The localization with two leader AUVs and a single follower AUV is analyzed. And the multiple AUVs geometry configuration which has a higher observability property is presented by maximization of the evaluation function based on the determinant of Fisher information matrix. Simulations are presented to compare the localization error of unobservable trajectory, observable non-optimal trajectory, and observable optimal trajectory, revealing the effectiveness of the analysis.
AB - Observability property has a very practical meaning in the underwater localization. This paper presents the observability of underwater localization based on the moving long baseline from the aspect of Fisher information matrix, which characterizes the amount of information provided by the measurements in the localization. The localization with two leader AUVs and a single follower AUV is analyzed. And the multiple AUVs geometry configuration which has a higher observability property is presented by maximization of the evaluation function based on the determinant of Fisher information matrix. Simulations are presented to compare the localization error of unobservable trajectory, observable non-optimal trajectory, and observable optimal trajectory, revealing the effectiveness of the analysis.
KW - Fisher Information Matrix
KW - Observability Analysis
KW - Observability Improvement
UR - http://www.scopus.com/inward/record.url?scp=84890488472&partnerID=8YFLogxK
M3 - 会议稿件
AN - SCOPUS:84890488472
SN - 9789881563835
T3 - Chinese Control Conference, CCC
SP - 4866
EP - 4869
BT - Proceedings of the 32nd Chinese Control Conference, CCC 2013
PB - IEEE Computer Society
T2 - 32nd Chinese Control Conference, CCC 2013
Y2 - 26 July 2013 through 28 July 2013
ER -