Aiming at the problem of autonomous underwater vehicle navigation trajectory optimization using single beacon location under direct route condition, a nonlinear system model for AUV single beacon navigation is established, and the linearized system model with error states is constructed by polar coordinate transformation and simplification. Then, current disturbance is considered. To find out the optimum path to utilize range-only measurements, a novel observability degree-based analysis method is proposed, which gives a quantitative insight into convergence characteristics of the error states by using the eigenvalues of the normalized error covariance matrix. Simulation experiments are done to test convergence characteristics of AUV integrated navigation error states with single beacon range-only measurements under direct route control conditions. The experimental results show that the proposed control method is effective, and it has an important engineering application value and provides us with an optimized path.
Transfer RNA pyrophosphorolysis with CTP(ATP):tRNA nucleotidyltransferase. A direct route to tRNAs modified at the 3' terminus.
