Abstract
Abstract Terrain database is the reference basic for autonomous underwater vehicle (AUV) to implement underwater terrain navigation (UTN) functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.
Highlights
Terrain Aided Navigation (TAN) combined the terrain database with terrain contour matching, which improved the positioning accuracy of inertial navigation of autonomous underwater vehicle (AUV) [1,2]
Analysis algorithms for different terrain navigation performance, including choosing terrain matching area, have been a focus research of TAN, and are an obstacle for TAN widely used
This paper established an analysis model of underwater terrain navigation (UTN), theoretically analyzed the measures of terrain height standard deviation, Fisher terrain information and terrain elevation entropy, these terrain features which are closely related to the amount of information and terrain navigation, and their impacts on matching performance, and discussed the weighting comprehensive assessment of topographic information
Summary
Terrain Aided Navigation (TAN) combined the terrain database with terrain contour matching, which improved the positioning accuracy of inertial navigation of autonomous underwater vehicle (AUV) [1,2]. Once system hardware performance and matching area have been identified, the performance of TEM determines the navigation accuracy of TAN. The accuracy and reliability of underwater terrain navigation (UTN) depend on the richness of the terrain information [3,4,5]. Analysis algorithms for different terrain navigation performance, including choosing terrain matching area, have been a focus research of TAN, and are an obstacle for TAN widely used. This paper established an analysis model of UTN, theoretically analyzed the measures of terrain height standard deviation, Fisher terrain information and terrain elevation entropy, these terrain features which are closely related to the amount of information and terrain navigation, and their impacts on matching performance, and discussed the weighting comprehensive assessment of topographic information
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