Research Article
Observability Degree-Based AUV Single Beacon Navigation Trajectory Optimization with Range-Only Measurements
| Parameter name | Numerical value |
| Earth radius | 6378137 m | Sailing speed | 2 m/s | Current speed | 0.5 m/s | Initial latitude of AUV | 36° | Sampling period of the integrated navigation | 60 s | Total time of simulation | 3600 s |
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