Cooperative Navigation Based on Bearing and Range Measurements to Different Vehicles. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Santos, David; Batista, Pedro
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 14552
• Page End: 14557
• Publication Date: 2020
• Subjects: Navigation -- bearing -- range -- cooperative navigation -- Kalman filter; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.1460
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper presents a navigation solution for a vehicle operating in cooperation with two other. The vehicle is assumed to measure bearing to one of the aiding vehicles and range to the other. An observer with globally exponentially stable error dynamics is designed by obtaining an equivalent observable linear time-varying system using an artificial output and state augmentation. The observer relies on local measurements, as well as limited communication between the vehicles. Simulations are performed to assess the proposed solution.