Pseudo-range navigation with clock offset and propagation speed estimation

This paper presents a novel long baseline navigation solution based on pseudo-range measurements that does not require clock synchronization nor propagation speed profiling. In a one-way-travel-time setting, the offset between the clocks of the emitters and the clock of the receiver is assumed unknown, as well as the speed of propagation of the acoustic waves in the medium. The proposed solution, which resorts to state and output augmentation to achieve a system that is linear in the state, is shown to yield estimates that converge exponentially fast to zero for all initial conditions. The observability of the system is also carefully analyzed, the multi-rate nature of the measurements is taken into account, and simulation results evidence excellent performance.