水下地形匹配导航中地形水深斜率序列研究

Research on sequence of terrain bathymetry slope in underwater terrain matching navigation

为提高水下地形匹配导航精度,针对传统地形特征参数在统计意义上局限性,根据经典TERCOM地形匹配算法的基本原理,提出了地形水深斜率序列这一地形特征参数,并从理论上证明了地形水深斜率序列均值越大,匹配误差越小,匹配导航性能越优的结论,从而进一步提出了结合路径的地形匹配区选取方法.仿真结果表明:地形水深斜率序列均值越大,匹配导航性能越优.同时,验证了基于地形水深斜率的地形匹配区选取方法的正确性和可行性,为水下地形匹配导航匹配区的选择和航迹规划提供理论依据.

In order to enhance the precision of underwater terrain matching navigation and solve the problem about the statisitcal limitation on traditional terrain characteristic parameters , this paper brings up a sequence of terrain bathymetry slope based on the classic T ERCOM algorithm principle and theoretically certified that the larger the mean of bathymetry slope sequence was ,the smaller the matching error and the more better the matching navigation performance would be .Furthermore ,the selection method of route‐involved terrain matching areas woule be presented .The simulation results testify to the validity of above arguments ,w hich provides theoretical foundation for the selection of matching zones and route planning in underwater matching navigation practice .