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Improved ICCP terrain matching method under large initial positioning error

A technology of terrain matching and initial positioning, which is applied in the directions of surveying devices, instruments, surveying and navigation, etc., can solve the problems of low precision of ICCP algorithm and easy wrong matching, so as to ensure global convergence, improve reliability, improve matching accuracy and reliability effect

Pending Publication Date: 2021-10-22
SOUTHEAST UNIV
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Problems solved by technology

[0005] Aiming at the above problems, the present invention provides an improved ICCP terrain matching method under large initial positioning errors, aiming at the problems of low ICCP algorithm accuracy and easy mis-matching under large initial errors, making full use of the redundancy of terrain information measured by multi-beam depth sounders redundancy, improve the accuracy and reliability of ICCP algorithm

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  • Improved ICCP terrain matching method under large initial positioning error
  • Improved ICCP terrain matching method under large initial positioning error
  • Improved ICCP terrain matching method under large initial positioning error

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Embodiment Construction

[0037] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0038] The invention provides an improved ICCP terrain matching method suitable for large initial errors. Aiming at the problems of low accuracy, mismatch and local convergence of the traditional ICCP method under large initial errors, based on the measurement characteristics of the multi-beam bathymetry system, the method of extracting equivalent points is improved, and an improved ICCP topographic method suitable for large initial errors is proposed. Matching method to improve the matching accuracy and reliability.

[0039] The core of the terrain aided navigation system is the matching algorithm. The traditional ICCP algorithm is to make the matching trajectory gradually approach its corresponding contour line by constantly looking for transformation (selection and translation), and finally the point that meets a certain iteration condition ...

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Abstract

The invention provides an improved ICCP terrain matching method under a large initial positioning error. According to the method, real-time underwater elevation acquisition is carried out by using a multi-beam sounding system, an underwater terrain matching template is established, isodepth point values are extracted according to a pre-stored underwater digital topographic map, a to-be-matched terrain area is established, and the underwater terrain matching similarity is analyzed, an optimal matching sequence is selected, and rigid transformation is solved, and the matched object is continuously rotated and translated, so that the matched object gradually approaches the target object until a certain index or iteration times are reached, thereby obtaining the position information of the underwater vehicle. Through similarity analysis of the isometric value points, mismatching of the isometric value points is effectively avoided, and the global convergence of the improved algorithm is ensured while the precision and the stability of the algorithm are improved.

Description

technical field [0001] The invention relates to terrain matching positioning based on Iterative Closest ContourPoint (ICCP) under large initial errors, in particular to an improved ICCP terrain matching method under large initial positioning errors. Background technique [0002] Underwater vehicles play a pivotal role in the development of marine resources, offshore defense, deep sea / far sea exploration and other fields. In order to ensure that underwater vehicles can successfully complete related tasks, the navigation system equipped with them is required to have long-term underwater autonomous navigation, positioning and return capabilities. Due to the complex underwater application environment, strong time-varying and uncertain factors, underwater vehicles face many challenges in completing navigation tasks autonomously, safely and efficiently. Therefore, underwater navigation technology has always been an important part of the development process of underwater vehicles. ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/203Y02A90/30
Inventor 张涛张佳宇张驰张亮刘射德夏茂栋
Owner SOUTHEAST UNIV
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