{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:24:15Z","timestamp":1754155455488,"version":"3.41.2"},"reference-count":24,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2014,3,11]],"date-time":"2014-03-11T00:00:00Z","timestamp":1394496000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,3,11]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 The authors aim to investigate the observability properties of the process of simultaneous localization and mapping of an autonomous underwater vehicle (AUV), a challenging and important problem in marine robotics, and illustrate the derived results through computer simulations and experimental results with a real AUV. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 The authors address the single\/multiple beacon observability analysis of the process of simultaneous localization and mapping of an AUV by deriving the nonlinear mathematical model that describes the process; then applying a suitable coordinate transformation, and subsequently a time-scaling transformation to obtain a linear time varying (LTV) system. The AUV considered is equipped with a set of inertial sensors, a depth sensor, and an acoustic ranging device that provides relative range measurements to a set of stationary beacons. The location of the beacons does not need to be necessarily known and in that case, the authors are also interested to localize them. Numerical tests and experimental results illustrate the derived theoretical results. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 The authors show that if either the position of one of the beacons or the initial position of the AUV is known, then the system is at least locally weakly observable, in the sense that the set of indistinguishable states from a given initial configuration contains a finite set of isolated points. The simulations and experiments results illustrate the findings. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 In the single and multiple beacon case and for manoeuvres with constant linear and angular velocities both expressed in the body-frame, known as trimming or steady-state trajectories, the authors derive conditions under which it is possible to infer the state of the resulting system (and in particular the position of the AUV). The authors also describe the implementation of an advanced continuous time constrained minimum energy observer combined with multiple model techniques. Numerical tests and experimental results illustrate the derived theoretical results.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-09-2013-398","type":"journal-article","created":{"date-parts":[[2014,3,19]],"date-time":"2014-03-19T09:51:36Z","timestamp":1395222696000},"page":"213-224","source":"Crossref","is-referenced-by-count":4,"title":["Underwater localization and mapping: observability analysis and experimental results"],"prefix":"10.1108","volume":"41","author":[{"given":"Mohammadreza","family":"Bayat","sequence":"first","affiliation":[]},{"given":"A.","family":"Pedro Aguiar","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2021010220585782000_b1","unstructured":"Aguiar, A.P.\n                and \n                  Hespanha, J.A.P.\n                (2003), \u201cMinimum-energy state estimation for systems with perspective outputs and state constraints\u201d, Proc. 42nd IEEE Conference on Decision and Control, Maui, Hawaii."},{"key":"key2021010220585782000_b2","doi-asserted-by":"crossref","unstructured":"Aguiar, A.P.\n                and \n                  Hespanha, J.A.P.\n                (2006), \u201cMinimum-energy state estimation for systems with perspective outputs\u201d, IEEE Transactions on Automatic Control, No. 2, pp. 226-241.","DOI":"10.1109\/TAC.2005.861686"},{"key":"key2021010220585782000_b3","doi-asserted-by":"crossref","unstructured":"Arrichiello, F.\n               , \n                  Antonelli, G.\n               , \n                  Aguiar, A.P.\n                and \n                  Pascoal, A.\n                (2011), \u201cObservability metric for the relative localization of AUVs based on range and depth measurements: theory and experiments\u201d, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3166-3171.","DOI":"10.1109\/IROS.2011.6094466"},{"key":"key2021010220585782000_b4","doi-asserted-by":"crossref","unstructured":"Batista, P.\n               , \n                  Silvestre, C.\n                and \n                  Oliveira, P.\n                (2010), \u201cSingle beacon navigation: observability analysis and filter design\u201d, American Control Conference, Marriott Waterfront, Baltimore, MD, USA, pp. 6191-6196.","DOI":"10.1109\/ACC.2010.5531613"},{"key":"key2021010220585782000_b5","doi-asserted-by":"crossref","unstructured":"Batista, P.\n               , \n                  Silvestre, C.\n                and \n                  Oliveira, P.\n                (2011), \u201cSingle range aided navigation and source localization: observability and filter design\u201d, Systems & Control Letters, Vol. 60 No. 8, pp. 665-673.","DOI":"10.1016\/j.sysconle.2011.05.004"},{"key":"key2021010220585782000_b6","doi-asserted-by":"crossref","unstructured":"Bayat, M.\n                and \n                  Aguiar, A.P.\n                (2013), \u201cAUV range-only localization and mapping: observer design and experimental results\u201d, paper presented at European Control Conference (ECC), Zurich, Switzerland.","DOI":"10.23919\/ECC.2013.6669602"},{"key":"key2021010220585782000_b7","doi-asserted-by":"crossref","unstructured":"Casey, T.\n                and \n                  Hu, J.\n                (2007), \u201cUnderwater vehicle positioning based on time of arrival measurements from a single beacon\u201d, MTS\/IEEE Oceans 2007, Vancouver, BC, Canada, pp. 1-8.","DOI":"10.1109\/OCEANS.2007.4449186"},{"key":"key2021010220585782000_b8","unstructured":"Fallon, M.F.\n               , \n                  Papadopoulos, G.\n                and \n                  Leonard, J.J.\n                (2009), \u201cCooperative AUV navigation using a single surface craft\u201d, Proceedings of Field and Service Robots, Cambridge, MA, pp. 1-10."},{"key":"key2021010220585782000_b9","unstructured":"Gadre, A.S.\n                (2007), \u201cObservability analysis in navigation systems with an underwater vehicle 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\n                  Whitcomb, L.L.\n                (2006), \u201cA survey of underwater vehicle navigation: recent advances and new challenges\u201d, paper presented at IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC)."},{"key":"key2021010220585782000_b13","doi-asserted-by":"crossref","unstructured":"Krener, A.J.\n                and \n                  Isidori, A.\n                (1983), \u201cLinearization by output injection and nonlinear observers\u201d, Systems & Control Letters, Vol. 3, pp. 47-52.","DOI":"10.1016\/0167-6911(83)90037-3"},{"key":"key2021010220585782000_b14","unstructured":"Larsen, M.B.\n                (2000), \u201cSynthetic long baseline navigation of underwater vehicles\u201d, paper presented at MTS\/IEEE Conference and Exhibition OCEANS."},{"key":"key2021010220585782000_b15","doi-asserted-by":"crossref","unstructured":"McPhail, S.D.\n                and \n                  Pebody, M.\n                (2009), \u201cRange-only positioning of a 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