UKF-Based Underwater Terrain Matching Algorithms Combination
Wei Feng, Zhangjing Yuan, Zhe Rao · Advances in computer science research · 2015
In order to neutralize the disadvantages of UKF algorithm applied in discontinuous terrain based navigation, this study offers an updated TERCOM/ICCP+UKF terrain matching algorithms combination.First, the theoretical and practical limitations of UKF-based underwater terrain matching algorithm adopted in terrain based navigation system are analyzed.Then, regarding the discounted effectiveness of algorithm matching resulted from larger initial navigation deviation, on the basis of commonly used "rough searching" and "precise matching" algorithm ideology, a combination approach of TERCOM, ICCP and UKF matching algorithms as well as the possible solution to similarly problematic terrains is illustrated.Simulation results show that algorithm combination has advantage over individual UKF matching algorithm because of offsetting the influence of larger initial navigation deviation on algorithm matching effectiveness, and presents better adaptability and applicability.