Analysis on Performance of Underwater Terrain Aided Navigation Using PMF Algorithm

Aiming at the problem that the performance of underwater terrain aided navigation is affected by many factors so that best performance cannot be obtained, an underwater digital map with corresponding resolution is made via bilinear interpolation method, and the point-mass filter(PMF) algorithm based on direct probability criterion is adopted to simulate the effects such as speed, depth error, heading error, speed error, initial positional deviation, and underwater topographical features on the navigation performance for undersea vehicle. And the application performance of the PMF algorithm under complex conditions is analyzed. Simulation results show that: 1) the PMF matching algorithm has strong stability under complex conditions; 2) within a certain range, the algorithm shows better resistance to speed and heading errors, but the matching performance will seriously degrade if the speed is too low; 3) the algorithm is greatly affected by the depth error and the initial position deviation, and it needs relatively high requirements for sounding accuracy and inertial navigation system; 4) the algorithm has strong terrain adaptability, and rich terrain is more conducive to matching navigation; and 5) proper selection of the application parameters can effectively reduce the matching error and improve the navigation performance.