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A Study of Underwater Terrain Navigation based on the Robust Matching Method

Published online by Cambridge University Press:  13 February 2014

Kai Zhang ,
Yong Li ,
Jianhu Zhao  and
Chris Rizos
Kai Zhang*
Affiliation:
(Wuhan University, Wuhan, China)
Yong Li
Affiliation:
(University of New South Wales, Sydney, Australia)
Jianhu Zhao
Affiliation:
(Wuhan University, Wuhan, China)
Chris Rizos
Affiliation:
(University of New South Wales, Sydney, Australia)
*
(E-mail: [email protected])
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Abstract

Outliers in terrain data are an obstacle to achieving accurate and robust solutions of Underwater Terrain Relative Navigation (UTRN). If not handled properly, navigation may be degraded or even divergent. To address the problem, this paper proposes a terrain-matching algorithm based on the robust estimation theory. In contrast to the conventional approach, the proposed algorithm can significantly reduce the interference of the outliers. Experimental results confirm the good performance of the proposed method.

Keywords

Underwater NavigationTerrain NavigationOutlierRobust Matching
Type
Research Article
Information
The Journal of Navigation , Volume 67 , Issue 4 , July 2014 , pp. 569 - 578
Copyright
Copyright © The Royal Institute of Navigation 2014 

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