ABSTRACT
This chapter presents the specific sub-problem of underwater vehicle navigation which, stated in simple terms, aims to develop the systems required to compute the position of an object underwater. It introduces the theoretical tools leading to the building blocks required for the development of range-based algorithms to solve two classes of problems. Namely, vehicle positioning and target localization, which are deeply rooted in many marine applications. The chapter introduces the required notation, the key concepts of observability of nonlinear systems, and the Fisher information matrix that plays a fundamental role in estimation theory. It addresses the problems of optimal sensor placement in two-dimentional (2D) and three-dimentional (3D) for single and multiple static target localization using static sensors. The chapter considers the problem of stationary or moving, single or multiple target localization using one or more moving trackers. For static sensor and target scenarios, solutions for optimal sensor placement were described for single and multiple target localization in 2D and 3D.
