基于迭代最近点算法的地形匹配算法可靠性分析

Analysis on the reliability of terrain matching algorithm based on ICP

根据迭代最近点算法的原理,从几何直观的角度研究了地形辅助导航系统匹配的可靠性,推导了旋转和平移的可靠性公式,并进行了数字仿真,结果表明,本文推导的可靠性结论是正确的.

Seabottom terrain mapping assistant navigation is a new method in navigation technology of underwater vehicles. In this paper, the reliability of the algorithm of terrain matching based on ICP algorithm was analyzed. The matching reliability of terrain assistant navigation system was determined by the intuitive geometrical reasoning. The formulas of reliability for rotation and translation were deduced. Various simulations results have shown the effectiveness of this new method.