A Review of Terrain Elevation Matching Algorithms for Undersea Vehicles

XIONG Lu; LI Jingshu; RAO Zhe; HUO Zhifan

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

Volume 33 Issue 1

Mar 2025

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Article Navigation > Journal of Unmanned Undersea Systems > 2025 > 33(1): 1-14

XIONG Lu, LI Jingshu, RAO Zhe, HUO Zhifan. A Review of Terrain Elevation Matching Algorithms for Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2025, 33(1): 1-14. 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 Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2025, 33(1): 1-14. doi: 10.11993/j.issn.2096-3920.2024-0152

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A Review of Terrain Elevation Matching Algorithms for Undersea Vehicles

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

XIONG Lu^1
,,
LI Jingshu^2
,,
RAO Zhe^3
,,
HUO Zhifan^1
,

1.
Ordnance NCO Academy, Army Engineering University of PLA, Wuhan 430075, China
2.
Dept. of Operational Research 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 navigation system (INS) errors of an undersea vehicle continuously accumulate over time. A terrain elevation matching technique offers a solution by using measured terrain features to provide continuous position corrections for INS, making it a key research area in underwater navigation aids worldwide. This paper took the development of terrain elevation matching algorithms for undersea vehicles as the research object. Firstly, challenges faced by undersea vehicle navigation and positioning were pointed out. The basic principle and system component of terrain matching for undersea vehicles were then introduced. Additionally, the development of underwater terrain matching algorithm was reviewed chronologically, highlighting the main developmental stages, principles of typical terrain matching algorithms, and their advantages and limitations. Then, advancements in algorithm principles and experimental applications both in China and abroad were examined. Finally, the primary research focus areas in underwater terrain matching algorithms worldwide were briefly summarized, and strategies for enhancing algorithm performance were explored by combining parallel computing, multibeam sonar, and underwater terrain feature analysis, providing references for researchers in this field.
- undersea vehicle,
- terrain-aided navigation,
- terrain elevation,
- terrain matching algorithm

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References(108)

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