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This paper proposes a control algorithm for a UAV to circumnavigate anunknown target at a fixed radius when the location information of the UAV isunavailable. By assuming that the UAV has a constant velocity, the controlalgorithm makes adjustments to the heading angle of the UAV based on range andrange rate measurements from the target, which may be corrupted by additivemeasurement noise. The control algorithm has the added benefit of beingglobally smooth and bounded. Exploiting the relationship between range rate andbearing angle, we transform the system dynamics from Cartesian coordinate interms of location and heading to polar coordinate in terms of range and bearingangle. We then formulate the addition of measurement errors as a stochasticdifferential equation. A recurrence result is established showing that the UAVwill reach a neighborhood of the desired orbit in finite time. Some statisticalmeasures of performance are obtained to support the technical analysis.

UAV Circumnavigation of an Unknown Target Without Location Information Using Noisy Range-based Measurements