水下地形辅助导航中局部地形特征的快速提取方法

作者：陈鹏云,张鹏飞,常建龙,沈鹏

摘要：Terrain matching accuracy and real-time performance are affected by local underwater terrain features and structure of matching surface. To solve the extraction problem of local terrain features for underwater terrain-aided navigation (UTAN), real-time data model and selection method of beams are proposed. Then, an improved structure of terrain storage is constructed, and a fast interpolation strategy based on index is proposed, which can greatly improve the terrain interpolation–reconstruction speed. Finally, for the influences of tide, an elimination method of reference depth deviation is proposed, which can reduce the reference depth errors caused by tidal changes. As the simulation test shows, the proposed method can meet the requirements of real-time performance and effectiveness. Furthermore, the extraction time is considerably reduced, which makes the method suitable for the extraction of local terrain features for UTAN.

发文机构：College of Mechatronic Engineering National Deep Sea Center

关键词：UNDERWATERTERRAINmodelingBeamselectionMIXINGRESOLUTIONTERRAINstoragemodelIndexextractionUnderwater terrain modelingBeam selectionMixing resolutionTerrain storage modelIndex extraction

分类号： TP311.56[自动化与计算机技术—计算机软件与理论][自动化与计算机技术—计算机科学与技术]