一种改进ICCP水下地形匹配算法

Improved ICCP algorithm for underwater terrain matching method

针对水下地形最近等值线迭代(ICCP)匹配算法的原理缺陷和惯性导航累积误差对匹配精度的影响,提出了一种利用粒子群算法优化估计航路的改进ICCP算法.分析了ICCP算法的不足,利用估计航路、惯性导航定位误差和数字地图确定误差椭圆和参考航路,用豪斯多夫距离表征参考航路与实际航路的位置差异,并利用粒子群优化算法实现参考航路的快速寻优.仿真结果证明改进算法具有更好的定位精度和鲁棒性,湖上试验验证了算法的工程可行性.

To analyze the influences of the accumulation errors of inertial navigation system （INS） and the principles of traditional iterative closest contour point （ICCP） algorithm, an improved ICCP meth- od was proposed which adjusts estimated path using particle swarm optimization algorithm. ICCP matching path, INS positioning errors and digital maps were used to confirm error ellipses and refer- ence path. Hausdorff distance was used to characterize the distance between the reference path and ac- tual path. Particle swarm optimization algorithm was introduced to achieve the optimization rapidly. Simulation results show the robustness and accuracy of the improved algorithm. Engineering feasibili- ty was proved by the lake-trial.