Seabed terrain matching algorithm basing on correction factor of tide and probability data associate filtering

The performance of seabed terrain matching in shallow water areas is often unsatisfactory. We made experiments, then found out it is caused by the influence of the tide. This paper remove the effects of tide to the shallow seabed terrain matching by using the tide correction factor, and then provided a nonlinear state estimation methods using optimal probability rules to optimize the seabed terrain matching algorithm. The theoretical analysis and simulation results indicate that the seabed terrain matching algorithm based on correction factor of tide and probability data associate filtering (STMCFTPDAF) can improve the performance of terrain aided navigation compare to TERCOM and TEMPDAF.