A Study of Underwater Terrain Navigation based on the Robust Matching Method. (July 2014)

• Record Type: Journal Article
• Authors: Zhang, Kai; Li, Yong; Zhao, Jianhu; Rizos, Chris
• Is Part Of: Journal of navigation. Volume 67:Number 4(2014)
• Page Start: 569
• Page End: 578
• Publication Date: 2014-07
• Subjects: Navigation -- Periodicals; 623.8905
• DOI: 10.1017/S0373463314000071
• Languages: English
• ISSNs: 0373-4633

Abstract

<abstract abstract-type="normal"> <title> <x content-type="archive" xml:space="preserve">Abstract</x> </title> <p>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.</p> </abstract>