UKF-Based Underwater Terrain Matching Algorithms Combination

DOI

10.2991/iiicec-15.2015.229How to use a DOI?

Keywords

UKF; Underwater Terrain Matching Algorithm; Algorithm Combination; Underwater Terrain Based Navigation

Abstract

In order to neutralize the disadvantages of UKF algorithm applied in discontinuous terrain based navigation, this study offers an updated TERCOM/ICCP+UKF terrain matching algorithms combination. First, the theoretical and practical limitations of UKF-based underwater terrain matching algorithm adopted in terrain based navigation system are analyzed. Then, regarding the discounted effectiveness of algorithm matching resulted from larger initial navigation deviation, on the basis of commonly used “rough searching” and “precise matching” algorithm ideology, a combination approach of TERCOM, ICCP and UKF matching algorithms as well as the possible solution to similarly problematic terrains is illustrated. Simulation results show that algorithm combination has advantage over individual UKF matching algorithm because of offsetting the influence of larger initial navigation deviation on algorithm matching effectiveness, and presents better adaptability and applicability.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Feng Wei
AU  - Zhangjing Yuan
AU  - Rao Zhe
PY  - 2015/03
DA  - 2015/03
TI  - UKF-Based Underwater Terrain Matching Algorithms Combination
BT  - Proceedings of the 2015 International Industrial Informatics and Computer Engineering Conference
PB  - Atlantis Press
SP  - 1027
EP  - 1030
SN  - 2352-538X
UR  - https://doi.org/10.2991/iiicec-15.2015.229
DO  - 10.2991/iiicec-15.2015.229
ID  - Wei2015/03
ER  -