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Journal of Marine Science and Application

, Volume 18, Issue 3, pp 334–342 | Cite as

Fast Extraction of Local Underwater Terrain Features for Underwater Terrain-Aided Navigation

  • Pengyun ChenEmail author
  • Pengfei Zhang
  • Jianlong Chang
  • Peng Shen
Research Article
  • 46 Downloads

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.

Keywords

Underwater terrain modeling Beam selection Mixing resolution Terrain storage model Index extraction 

Notes

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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Copyright information

© Harbin Engineering University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Pengyun Chen
    • 1
    Email author
  • Pengfei Zhang
    • 1
  • Jianlong Chang
    • 1
  • Peng Shen
    • 2
  1. 1.College of Mechatronic EngineeringNorth University of ChinaTaiyuanChina
  2. 2.National Deep Sea CenterQingdaoChina

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