This study considers the 3D scenario where an autonomous underwater vehicle (AUV) tracks an emitter while estimating the emitter's location by measuring the emitter's frequency and elevation–azimuth angle. To enhance the emitter estimation based on frequency–angle measurements, this study presents an AUV's path planner considering acceleration limits, such as the bounded turn rate. As far as the author's knowledge, the proposed path planner is novel in presenting an AUV's 3D path planner to enhance the emitter estimation based on frequency–angle measurements. The proposed 3D planner is useful in underwater target tracking, since the AUV approaches the emitter while avoiding 3D threat environments. The effectiveness of the proposed planner is verified by utilising simulations.

中文翻译：

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自主水下航行器的3D路径规划器，使用频率和方位角-仰角测量来跟踪发射器

这项研究考虑了3D场景，即自动水下航行器（AUV）跟踪发射器，同时通过测量发射器的频率和仰角-方位角来估计发射器的位置。为了增强基于频率角测量的发射器估计，本研究提出了一种AUV的路径规划器，其中考虑了加速度限制，例如有界转弯率。据作者所知，提出的路径规划器在介绍AUV的3D路径规划器方面很​​新颖，该3D路径规划器可增强基于频率角度测量的发射器估计。拟议的3D规划器在水下目标跟踪中很有用，因为AUV可以在避免3D威胁环境的情况下接近发射器。通过模拟验证了所提出计划者的有效性。