Title :
Combinational Seabed Terrain Matching Algorithm Basing on Probability Data Associate Filtering and Iterative Closest Contour Point
Author :
Fan, Jiang ; Yi-Meng, Wu ; Zhen-Shan, Zhang ; Wu, Zhan
Author_Institution :
Dept. of Weaponry Eng., Naval Eng. Univ., Wuhan, China
Abstract :
This paper is committed to solve some key technique of seabed terrain matching. After introduced the specificity of seabed terrain matching, we analyzed the advantage and disadvantage of TERCOM, PDAF (Probabilistic Data Association Filtering) and ICCP (Iterative Closest Contour Point), then a combinational seabed terrain matching algorithm was proposed to improve the accuracy and practicability of seabed terrain matching which is based and ICCP. By using this combinational algorithm, underwater vehicle is allowed for mobile navigation in the period of terrain matching. Theoretical analysis and simulation results both show that the performance of this combinational algorithm is satisfactory.
Keywords :
combinatorial mathematics; computerised navigation; information filtering; iterative methods; marine engineering; sensor fusion; terrain mapping; underwater vehicles; combinational seabed terrain matching algorithm; iterative closest contour point; mobile navigation; probability data associate filtering; underwater vehicle; Aircraft navigation; Algorithm design and analysis; Automation; Data engineering; Filtering algorithms; Iterative algorithms; Marine technology; Matched filters; State estimation; Tides; iterative closest contour point; probability data associate filtering; terrain matching; tide prediction;
Conference_Titel :
Intelligent Computation Technology and Automation, 2009. ICICTA '09. Second International Conference on
Conference_Location :
Changsha, Hunan
Print_ISBN :
978-0-7695-3804-4
DOI :
10.1109/ICICTA.2009.67