快速ICCP算法实现地形匹配技术研究

Study on Technique for Seabottom Terrain Mapping System by Means of Rapid ICCP Algorithm

利用海底地形进行辅助导航是水下潜器导航技术致力于研究的新方向。采用ICCP算法作为对准匹配算法 ,从两个方面对ICCP算法进行了改进 ,一是将测量航迹进行随机旋转和平移来选择初始状态集 ,使其能够以足够小的误差概率收敛到全局最优中 ,减少了迭代次数 ;二是采用滑动窗口技术来寻找等值线上的最近点 ,在每一次收敛到局部最小的过程中都减少了最近点计算量。

Seabottom terrain mapping assistant navigation is a new method in navigation technology of underwater vehicles.In this paper,ICCP algorithm is selected as a registration matching algorithm and is improved in two ways.The first is to select the initial states randomly so as to converge them to a global minimum with a sufficiently small error probability and to decrease the number of iteration.The second is to reckon the closest points by use of gliding window technique so as to reduce the computation cost in reckoning the closest points in each time of converging to local minimums.