Abstract
Terrain matching accuracy and real-time performance are affected by local underwater terrain features and structure of matching surface. To solve the extraction problem of local terrain features for underwater terrain-aided navigation (UTAN), real-time data model and selection method of beams are proposed. Then, an improved structure of terrain storage is constructed, and a fast interpolation strategy based on index is proposed, which can greatly improve the terrain interpolation–reconstruction speed. Finally, for the influences of tide, an elimination method of reference depth deviation is proposed, which can reduce the reference depth errors caused by tidal changes. As the simulation test shows, the proposed method can meet the requirements of real-time performance and effectiveness. Furthermore, the extraction time is considerably reduced, which makes the method suitable for the extraction of local terrain features for UTAN.
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Funding
This study is supported by the National Natural Science Foundation of China (Grant No. 51775518), Natural Science Foundation of North University of China (Grant No. 2017001), and the 333 Academic Start Funding for Talents of North University of China (Grant No. 13011915).
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Article Highlights
• The proposed DTM storage format and index-based interpolation method can improve the interpolation speed effectively, which is favorable for UTAN.
• With beam mode selection, the number of depth data is reduced significantly, such that the matching speed meets the performance requirements.
• Tide correction can improve the matching accuracy, and the real-time performance is scarcely influenced.
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Chen, P., Zhang, P., Chang, J. et al. Fast Extraction of Local Underwater Terrain Features for Underwater Terrain-Aided Navigation. J. Marine. Sci. Appl. 18, 334–342 (2019). https://doi.org/10.1007/s11804-019-00086-6
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DOI: https://doi.org/10.1007/s11804-019-00086-6