Study on the Algorithm of Sea Bottom Terrain Match

Author

Tong, Zheng ; Bian Shaofeng

Author_Institution

Mil. Representative Office, 438th Factory, Wuhan, China

Volume

1

fYear

2009

fDate

21-22 May 2009

Firstpage

179

Lastpage

182

Abstract

Terrain matching assistant navigation is a new method in navigation technology of the underwater vehicles. In this paper, ICCP algorithm is studied and improved with MATLAB. By measured terrain data at real time and real multi-beam bathymetric measured terrain data, the accumulative errors of the inertial navigation system can be corrected and the optimal matching position can be gotten. In order to validate match position and the availability of improved ICCP algorithm, the error of the match position is of observed quantity, and the error of the navigation system is analyzed by Kalman filter. There are many simulation examples to validate the influence of each error source on matching error.

Keywords

Kalman filters; bathymetry; inertial navigation; terrain mapping; underwater vehicles; ICCP algorithm; Kalman filter; MATLAB; bathymetric measured terrain data; inertial navigation system; iterative closest contour point; sea bottom terrain match; underwater vehicle; Algorithm design and analysis; Availability; Error correction; Inertial navigation; MATLAB; Optimal matching; Position measurement; Real time systems; Sea measurements; Underwater vehicles; ICCP algorithm; INS; errors; improvement; matvh;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Computing Science, 2009. ICIC '09. Second International Conference on

Conference_Location

Manchester

Print_ISBN

978-0-7695-3634-7

Type

conf

DOI

10.1109/ICIC.2009.52

Filename

5169569