Sea Bottom Terrain Aided Navigation Based on the Kalman Filter
Abstract：Terrain matching assistant navigation is a new method in navigation technology of the underwater vehicles. In this paper, the real terrain data are measured by multi-beam sounding system, and ICCP algorithm is selected as a registration matching algorithm. Based on the measured terrain data and the algorithm, the accumulative errors of the Inertial Navigation System can be corrected and the optimal marc hing position can be gotten. The platform inertial errors are estimate with the kalman filter in INS. From the simulation results, the inertial errors can be estimated accurately with the matching position differences.
Keywords：underwater vehiclesmulti-beam sounding systemICCP algorithmterrain matchinginertial navigation system
Publication Date：2012-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：3( 54-56 )