水下地形輔助導航中局部地形特征的快速提取方法

作者：陳鵬云,張鵬飛,常建龍,沈鵬

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.

發文機構：College of Mechatronic Engineering National Deep Sea Center

關鍵詞：UNDERWATERTERRAINmodelingBeamselectionMIXINGRESOLUTIONTERRAINstoragemodelIndexextractionUnderwater terrain modelingBeam selectionMixing resolutionTerrain storage modelIndex extraction

分類號： TP311.56[自動化與計算機技術—計算機軟件與理論][自動化與計算機技術—計算機科學與技術]