Combinational Seabed Terrain Matching Algorithm Basing on Probability Data Associate Filtering and Iterative Closest Contour Point

摘要：

This paper is committed to solve some key technique of seabed terrain matching.After introduced the specificity of seabed terrain matching,we analyzed the advantage and disadvantage of TERCOM,PDAF(Probabilistic Data Association Filtering) and ICCP (Iterative Closest Contour Point),then a combinational seabed terrain matching algorithm was proposed to improve the accuracy and practicability of seabed terrain matching which is based on PDAF and ICCP. By using this combinational algorithm, underwater vehicle is allowed for mobile navigation in the period of terrain matching.Theoretical analysis and simulation results both show that the performance of this combinational algorithm is satisfactory.

关键词： terrain matching tide prediction probability data associate filtering iterative closest contour point

作者: Jiang Fan Wu Yi-meng Zhang Zhen-shan Zhan Wu

作者单位: Dept. of Weaponry Engineering Naval Engineering University Wuhan, China, 430033 Dept. of Automation Naval Armament Academy Beijing, China, 100036 Dept.of Automation Naval Armament Academy Beijing, China, 100036

会议类型: 国际会议

会议名称: 2009 Second International Conference on Intelligent Computation Technology and Automation(2009 第二届IEEE智能计算与自动化国际会议 ICICTA 2009)

会议地点: 长沙

会议语种:英文

页码: 245-249

在线出版日期: 2009-10-10（万方平台首次上网日期，不代表论文的发表时间）