A Review of Terrain Elevation Matching Algorithms for Underwater Vehicles

XIONG Lu; LI Jingshu; RAO Zhe; HUO Zhifan

doi:10.11993/j.issn.2096-3920.2024-0152

Article Contents

Article Navigation > Journal of Unmanned Undersea Systems > 2025 > Accepted Manuscript

XIONG Lu, LI Jingshu, RAO Zhe, HUO Zhifan. A Review of Terrain Elevation Matching Algorithms for Underwater Vehicles[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0152

Citation:

XIONG Lu, LI Jingshu, RAO Zhe, HUO Zhifan. A Review of Terrain Elevation Matching Algorithms for Underwater Vehicles[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0152

XIONG Lu, LI Jingshu, RAO Zhe, HUO Zhifan. A Review of Terrain Elevation Matching Algorithms for Underwater Vehicles[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2024-0152

Citation:

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A Review of Terrain Elevation Matching Algorithms for Underwater Vehicles

doi: 10.11993/j.issn.2096-3920.2024-0152

1.
Ordnance NCO Academy, Army Engineering University of PLA, Wuhan 430075, China
2.
Dept. of Operational Rsearch and Programming, Naval University of Engineering, Wuhan 430033, China
3.
College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China

Received Date: 2024-11-05
Accepted Date: 2025-01-20
Rev Recd Date: 2024-12-30

Available Online: 2025-01-22

Abstract

Abstract

The inertial guidance error of underwater vehicles accumulates over time, and the terrain elevation matching technology, which is based on terrain features, can provide the required continuous position correction information for the inertial guidance system according to the measured terrain, and is a hot spot of research in the field of domestic and foreign underwater navigation aid. This paper takes the development of terrain matching elevation algorithm for underwater vehicles as the research object, firstly, points out the problems faced by the navigation and positioning of underwater vehicles, and then introduces the basic principle and system composition of terrain matching for underwater vehicles on the basis of this, and takes the development of underwater terrain matching algorithm as the vein, and then expounds the main stages in the development of terrain matching algorithm and typical algorithms, the principle, the advantages and disadvantages in the order of order. Then, the principle improvement and experimental application of underwater terrain matching algorithm are introduced from foreign and domestic aspects respectively. Comparing with the current research status at home and abroad, effective ways to improve the performance of the matching algorithm are proposed for the reference of related researchers. Finally, the similarities and differences between domestic and international research on underwater terrain matching algorithms was briefly summarized, and by combining the technological development of parallel computing, multibeam sonar, and underwater terrain characterization, the effective ways to improve the performance of underwater matching algorithms was discussed so as to provide reference for researchers of this field.
- underwater vehicle,
- terrain-aided navigation,
- terrain elevation,
- terrain matching algorithm

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References(108)

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