水下无人系统学报2025，Vol.33Issue(1)：1-14,14.DOI:10.11993/j.issn.2096-3920.2024-0152
水下航行器地形高程匹配算法研究综述
A Review of Terrain Elevation Matching Algorithms for Undersea Vehicles
摘要
Abstract
The inertial navigation system(INS)errors of an undersea vehicle continuously accumulate over time.A terrain elevation matching technique offers a solution by using measured terrain features to provide continuous position corrections for INS,making it a key research area in underwater navigation aids worldwide.This paper took the development of terrain elevation matching algorithms for undersea vehicles as the research object.Firstly,challenges faced by undersea vehicle navigation and positioning were pointed out.The basic principle and system component of terrain matching for undersea vehicles were then introduced.Additionally,the development of underwater terrain matching algorithm was reviewed chronologically,highlighting the main developmental stages,principles of typical terrain matching algorithms,and their advantages and limitations.Then,advancements in algorithm principles and experimental applications both in China and abroad were examined.Finally,the primary research focus areas in underwater terrain matching algorithms worldwide were briefly summarized,and strategies for enhancing algorithm performance were explored by combining parallel computing,multibeam sonar,and underwater terrain feature analysis,providing references for researchers in this field.关键词
水下航行器/地形辅助导航/地形高程/地形匹配算法Key words
undersea vehicle/terrain-aided navigation/terrain elevation/terrain matching algorithm分类
武器工业引用本文复制引用
熊露,李京书,饶喆,霍治帆..水下航行器地形高程匹配算法研究综述[J].水下无人系统学报,2025,33(1):1-14,14.基金项目
国家自然科学基金青年基金项目资助(42304006) （42304006）
国家自然科学基金面上项目资助(52471386) （52471386）
湖北省教育厅科学技术研究项目(D20234801) （D20234801）
湖北省高等学校优秀中青年科技创新团队计划项目(T2023055). （T2023055）
