Observability analysis of underwater localization based on fisher information matrix

Xinpeng Fang; Weisheng Yan; Yintao Wang; Zijian Wang

Observability analysis of underwater localization based on fisher information matrix

Xinpeng Fang, Weisheng Yan, Yintao Wang, Zijian Wang

School of Marine Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 32nd Chinese Control Conference, CCC 2013
Publisher	IEEE Computer Society
Pages	4866-4869
Number of pages	4
ISBN (Print)	9789881563835
State	Published - 18 Oct 2013
Event	32nd Chinese Control Conference, CCC 2013 - Xi'an, China Duration: 26 Jul 2013 → 28 Jul 2013

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	32nd Chinese Control Conference, CCC 2013
Country/Territory	China
City	Xi'an
Period	26/07/13 → 28/07/13

Keywords

Fisher Information Matrix
Observability Analysis
Observability Improvement

Cite this

@inproceedings{e9790a3809a8484fa026433b8664ceac,

title = "Observability analysis of underwater localization based on fisher information matrix",

abstract = "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.",

keywords = "Fisher Information Matrix, Observability Analysis, Observability Improvement",

author = "Xinpeng Fang and Weisheng Yan and Yintao Wang and Zijian Wang",

year = "2013",

month = oct,

day = "18",

language = "英语",

isbn = "9789881563835",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "4866--4869",

booktitle = "Proceedings of the 32nd Chinese Control Conference, CCC 2013",

note = "32nd Chinese Control Conference, CCC 2013 ; Conference date: 26-07-2013 Through 28-07-2013",

}

Observability analysis of underwater localization based on fisher information matrix. / Fang, Xinpeng; Yan, Weisheng; Wang, Yintao et al.
Proceedings of the 32nd Chinese Control Conference, CCC 2013. IEEE Computer Society, 2013. p. 4866-4869 6640282 (Chinese Control Conference, CCC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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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 -

Observability analysis of underwater localization based on fisher information matrix

Abstract

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