Optimal Path Planning Method for Underwater Terrain-aided Navigation

To ensure that underwater terrain-aided navigation system can obtain enough terrain information in path planning, we propose an optimal path planning method considering comprehensively navigation tasks and terrain information. Firstly, we establish a distribution model of underwater terrain entropy information, then search optimum globally in matching area via the particle swarm optimization algorithm to obtain optimal path according with requirements by taking terrain information and path length as optimization target and considering the restraints of obstacle and maneuverability of an underwater vehicle. Finally, we simulate the matching process along the path by using the particle filter terrain matching method. Simulation re-sults show that the proposed method is feasible, and can give optimal path with enough terrain characteristics.