CONSTRUCTION METHOD OF THE TOPOGRAPHICAL FEATURES MODEL FOR UNDERWATER TERRAIN NAVIGATION

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.