Underwater Terrain Positioning Method Based on Least Squares Estimation for AUV

To achieve accurate positioning of autonomous underwater vehicles, an appropriate underwater terrain database storage format for underwater terrain-matching positioning is established using multi-beam data as underwater terrainmatching data. An underwater terrain interpolation error compensation method based on fractional Brownian motion is proposed for defects of normal terrain interpolation, and an underwater terrain-matching positioning method based on least squares estimation（LSE） is proposed for correlation analysis of topographic features. The Fisher method is introduced as a secondary criterion for pseudo localization appearing in a topographic features flat area, effectively reducing the impact of pseudo positioning points on matching accuracy and improving the positioning accuracy of terrain flat areas. Simulation experiments based on electronic chart and multi-beam sea trial data show that drift errors of an inertial navigation system can be corrected effectively using the proposed method. The positioning accuracy and practicality are high, satisfying the requirement of underwater accurate positioning.

Comparative Analysis of Microwave Brightness Temperature Data in Northeast China Using AMSR-E and MWRI Products

With such significant advantages as all-day observation, penetrability and all-weather coverage, passive mi-crowave remote sensing technique has been widely applied in the research of global environmental change. As the sat-ellite-based passive microwave remote sensor, the Advanced Microwave Scanning Radiometer-Earth Observing Sys-tem (AMSR-E) loaded on NASA's (National Aeronautics and Space Administration of USA) Aqua satellite has been popularly used in the field of microwave observation. The Microwave Radiation Imager (MWRI) loaded on the Chi-nese FengYun-3A (FY-3A) satellite is an AMSR-E-like conical scanning microwave sensor, but there are few reports about MWRI data. This paper firstly proposed an optimal spatial position matching algorithm from rough to exact for the position matching between AMSR-E and MWRI data, then taking Northeast China as an example, comparatively analyzed the microwave brightness temperature data derived from AMSR-E and MWRI. The results show that when the antenna footprints of the two sensors are filled with either full water, or full land, or mixed land and water with ap-proximate proportion, the errors of brightness temperature between AMSR-E and MWRI are usually in the range from -10 K to +10 K. In general, the residual values of brightness temperature between the two microwave sensors with the same spatial resolution are in the range of ±3 K. Because the spatial resolution of AMSR-E is three times as high as that of MWRI, the results indicate that the quality of MWRI data is better. The research can provide useful information for the MWRI data application and microwave unmixing method in the future.