Bearing Measurement-based Circumnavigation of One Single Agent Under a GPS-Denied Environment

In this paper, a relative position estimator is designed to solve the problem of localization and circumnavigation of a stationary target by an agent, which achieves the estimation using the agent's velocity and its bearing measurements towards the target. Since the agent's own position is not required, it can be applied in GPS-denied environments. Also, a control law is designed to drive the agent around the target on a circular trajectory and ensures that the agent maintains a safe distance from the target throughout the circumnavigation. The corresponding convergence and stability analyses are then given. The proposed method is validated by simulation.