Research Of Matching Navigation Algorithm Based On Underwater Geomorphology

Currently,ships and underwater vehicles are based on inertial navigation system,the position errors of inertial navigation is accumulated over navigation time.It is difficult to provide accurate navigation information for a long time,and must compensate and correct it timely.Using underwater aided navigation technology can effectively correct inertial navigation system navigation error,and it is cheap,and has very important significance to achieve the goal of security,privacy,fast sailing for underwater vehicles.At present,most research has been focused on the use of terrain-aided navigation information,while using geomorphology information is relatively less,due to the accuracy of the geomorphology image is much higher than that of terrain height data,the use of underwater geomorphology in the underwater aided navigation research will undoubtedly improve navigation accuracy,so this article will study a set of navigation methods,using the geomorphology image.This technology will greatly enhance the underwater vehicle navigation system positioning accuracy in a long distance.The main tasks include feature extraction,feature matching and output of matching results.Feature matching includes the search for the location and heading angle.Feature extraction completes extracting invariant moments and Harris corner features.In the circular template,invariant moments have a good rotation invariant;Harris corner detection operator not only has a good rotation invariance,but also resistance to some noise.During the searching for matching position,we use Euclidean distance of invariant moments feature vector as the similarity measurement.We use traverse method,the standard PSO and improved PSO algorithm.The improved PSO algorithm can greatly reduce the computation load,improving matching efficiency and matching accuracy.While determining the heading angle,we use Harris corner-points method and the maximum cross-correlation method.Combined with improved PSO algorithm can reduce the amount of computation,and matching time is shortened.Finally,each part of the algorithms are synthesized together to constitute a set of navigation methods and output matching navigation results.