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Multi-path parallel ICCP (iterative closest contour point) underwater terrain matching method based on multiple beams

An underwater terrain matching and multi-beam technology, applied in the field of inertial navigation, can solve problems such as large matching and failure, achieve the effect of improving matching accuracy and solving matching failure

Active Publication Date: 2018-01-30
SOUTHEAST UNIV
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  • Application Information

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Problems solved by technology

[0005] Purpose of the invention: In order to overcome the defects in the principle of the algorithm in the prior art, by making full use of the characteristics of multi-beam bathymetry data, it can effectively solve the problem of traditional ICCP algorithm matching failure when the initial error is large, and the algorithm matching accuracy is higher Multi-path Parallel ICCP Underwater Terrain Matching Method Based on Multi-beam Bathymetry Data

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  • Multi-path parallel ICCP (iterative closest contour point) underwater terrain matching method based on multiple beams
  • Multi-path parallel ICCP (iterative closest contour point) underwater terrain matching method based on multiple beams
  • Multi-path parallel ICCP (iterative closest contour point) underwater terrain matching method based on multiple beams

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[0030] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand various aspects of the present invention Modifications in equivalent forms all fall within the scope defined by the appended claims of this application.

[0031] The traditional ICCP algorithm only realizes the iterative registration of the nearest isobath point through the rigid rotation and translation transformation of the track indicated by the inertial navigation system, so the problem of matching failure is prone to occur when the initial position error is large. With the advancement of computer science technology, digital signal processing technology and sonar technology, multi-beam bathymetric sonar enables seabed t...

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Abstract

The invention discloses a multi-path parallel ICCP (iterative closest contour point) underwater terrain matching method based on multiple-beam depth measurement data. The method is characterized in that based on the traditional ICCP algorithm, multiple-beam depth measurement data characteristics are made full use, three paths in the center and at two edges of a depth measurement strip, corresponding weights and positional constraints are set, and the parallel ICCP algorithm assisted inertial navigation is used to arrive at navigation positioning. The problem that the traditional ICCP algorithmexperiences matching failure in case of large initial error is effectively solved, and the matching precision of the algorithm is higher.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a multi-path parallel ICCP underwater terrain matching method based on multi-beam sounding data. Background technique [0002] Underwater terrain matching navigation is an autonomous and all-weather navigation method that uses terrain matching technology to achieve accurate underwater positioning. It plays an important role in the precise positioning of underwater vehicles during long-term underwater navigation. As an important part of surveying and mapping scientific research, seabed topography measurement plays an important role in underwater terrain matching navigation. With the progress of computer science technology, digital signal processing technology and sonar technology, profound changes have taken place in marine topographic measurement technology. In the mid-1960s, the Woods Hole Oceanography Institution (WHOI) in the United States produced the...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
Inventor 徐晓苏王捍兵张涛李瑶吴梅童金武
Owner SOUTHEAST UNIV