标题：Range-only Position Estimation with Delay Correction via Lagrange-Bürman Inversion. * * E.I. Verriest gratefully acknowledges the support by NSF CPS-1544857
摘要：AbstractWe consider the problem of localization and tracking for mobile units submersed in the ocean. Assuming that only range information can be gathered by sonar, we present solutions to the problem taking the sound propagation speed into consideration. Its effect is that range and propagation delay are implicitly related and the design of observers or Kalman filters based on a fixed delay is not correct. Analytic tools, based on the Lagrange-Bürman inversion technique are developed, leading to improved data analysis methods. Direct inversion and an adaptation of the extended Kalman filter are suggested for the one-way and two-way sonar problem.
