一种基于M估计的水下地形抗差匹配算法

Robust Underwater Terrain Matching Navigation Based on M Estimation

为削弱观测数据和背景地形模型中粗差对水下地形匹配导航精度和可靠性的影响,提出了一种基于M估计的水下地形抗差匹配算法,显著提高了水下地形匹配算法对粗差(异常值)的抵御能力,确保了稳健匹配导航解的获取。实验验证了该算法的有效性。

For mitigating the impact of outliers in measurements and background map,a new method for underwater terrain matching navigation,base on robust statistics theory is proposed in this paper.By applying the M estimation theory,the robustness of the algorithm is improved.Experiments proved the good performance of the method.