基于海底底质及地形特征的地形辅助导航适配区选择方法

Topographic aided navigation adaptation area based on seafloor sediment and topographic features selection method

随着多波束测深技术的不断发展,地形辅助导航广泛应用于海上舰船。本文针对传统特征参数没有包含深度以及海底底质因素而导致水下地形导航适配区判定不准确的问题,提出基于海底底质及区域地形特征的地形辅助导航适配区选择方法。本方法基于多波束探测数据,对区域地形数据进行统计分析,通过层次分析法对地形特征参数以及海底底质等适配性评价指标进行综合分析,得出权重向量并构建适配区选择准则函数,对匹配区域进行适配性判断。利用ICCP算法进行地形匹配蒙特卡洛仿真实验,实验结果表明,适配性选择函数克服了传统特征参数对匹配区域分析不全面的问题,可有效选择适配区,适配区内匹配误差小于5 m。

With the development of multi-beam sounding technology,terrain aided navigation has been widely applied to ships at sea.Aiming at the problem that the traditional feature parameters do not include depth and seabed sediment factors,which leads to the inaccurate determination of underwater terrain navigation adaptation area,this paper proposes a method for the selection of terrain aided navigation adaptation area based on seabed sediment and regional terrain characteristics.Based on multi-beam detection data,this method carries out statistical analysis on regional topographic data,and makes comprehensive analysis on topographic feature parameters,submarine sediment and other adaptation evaluation indexes through analytic hierarchy process to obtain weight vector and construct adaptation selection criteria function to judge the suitability of matching areas.The Monte Carlo simulation experiment of terrain matching was carried out using ICCP algorithm.The experimental results show that the adaptive selection function overcomes the problem of incomplete analysis of the matching region by traditional feature parameters,and can effectively select the adaptive region,and the matching error within the adaptive region is less than 5 m.