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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 improve the accuracy of underwater terrain matching navigation, aiming at the limitation of traditional terrain feature parameters, according to the basic principle of classic TERCOM terrain matching algorithm, the topographic feature parameters of terrain depth slope sequence are proposed, and it is theoretically proved that topography The results show that the larger the mean value of water depth slope sequence is, the smaller the matching error is and the better the matching navigation performance is. The simulation results show that the larger the mean value of the terrain water depth slope sequence, the better the matching navigation performance At the same time, the correctness and feasibility of the terrain matching area selection method based on the terrain depth slope is verified, which provides a theoretical basis for the selection and trajectory planning of underwater terrain matching navigation matching area.