Research on Multi-index Comprehensive Evaluation Method for Terrain Navigability of Underwater Autonomous Vehicle

Abstract

Underwater autonomous vehicle (AUV) is the effective tools for humans to explore and development the ocean. Underwater terrain matching navigation is an emerging non-traditional navigation technology for AUV. As the unevenly distributed of the seabed terrain, some areas of the sea are not suitable for terrain matching navigation. In order to improve the efficiency and accuracy of terrain matching navigation, we needs to find the feature rich areas near the working location in real time, plan the route for terrain matching operation, and complete the deviation correction process of AUV's inertial navigation system. In order to improve the matching effect of underwater terrain matching algorithm, this paper proposes an advantage method for AUV underwater terrain matching region determination. The algorithm is based on multiindex grey decision theory, which can effectively fuse a variety of underwater terrain feature indexes and get the terrain navigability comprehensive evaluation results for large-scale sea area. In this paper, the proposed method is used to calculate the integrated terrain navigability of actual measured terrain data, and the correctness is verified by underwater terrain matching simulation.