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Then, current disturbance is considered. To find out the optimum path to utilize range\u2010only measurements, a novel observability degree\u2010based analysis method is proposed, which gives a quantitative insight into convergence characteristics of the error states by using the eigenvalues of the normalized error covariance matrix. Simulation experiments are done to test convergence characteristics of AUV integrated navigation error states with single beacon range\u2010only measurements under direct route control conditions. The experimental results show that the proposed control method is effective, and it has an important engineering application value and provides us with an optimized path.<\/jats:p>","DOI":"10.1155\/2018\/4056870","type":"journal-article","created":{"date-parts":[[2018,10,3]],"date-time":"2018-10-03T23:37:15Z","timestamp":1538609835000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Observability Degree\u2010Based AUV Single Beacon Navigation Trajectory Optimization with Range\u2010Only Measurements"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9526-8477","authenticated-orcid":false,"given":"Huapeng","family":"Yu","sequence":"first","affiliation":[]},{"given":"Xu","family":"Zhou","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2018,10,3]]},"reference":[{"key":"e_1_2_9_1_2","unstructured":"GadreA. S. 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