Performance of the ICCP algorithm for underwater navigation

Terrain-aided navigation is well known as an autonomous navigation method for aircrafts, missiles, underwater vehicles, and etc. The performance of iterative closest contour point (ICCP) algorithm is investigated in this paper deeply. The factors, including, the INS (inertial navigation system) precision, the map resolution, initial INS errors, the sonar accuracy, and the matching path length, which influence the matching errors, are studied for underwater vehicles. Simulations are accomplished to verify the performance of ICCP and some conclusions are summarized at the end.