Review on Underwater Navigation System Based on Range Measurements from One Reference

This paper reviews the underwater navigation system based on range measurements from a known reference station and extends it to 3-dimensional coordinate. We formulate the state equation in polar coordinate and derive a condition to keep observability of the navigation system. An autonomous underwater vehicle cruising with constant speed can estimate its trajectory with range measurements and additional depth, heading and pitch sensors only. Simulation studies are performed to evaluate the underwater navigation of a maneuvering AUV with range measurements. Simulation results illustrate that the extended navigation system provides convergence of the states estimates even with initial position errors.