A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles
The position error in an inertial navigation system (INS) for autonomous underwater vehicles (AUVs) increases over time. Terrain-aided navigation can assist in correcting these INS position errors. To enhance the matching accuracy under large initial position errors, an improved terrain matching alg...
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MDPI AG
2024-09-01
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| author | Dan Wang Liqiang Liu Yueyang Ben Liang Cao Zhongge Dong |
| author_facet | Dan Wang Liqiang Liu Yueyang Ben Liang Cao Zhongge Dong |
| author_sort | Dan Wang |
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| description | The position error in an inertial navigation system (INS) for autonomous underwater vehicles (AUVs) increases over time. Terrain-aided navigation can assist in correcting these INS position errors. To enhance the matching accuracy under large initial position errors, an improved terrain matching algorithm comprising terrain contour matching (TERCOM), particle swarm optimization (PSO), and iterative closest contour point (ICCP), named TERCOM-PSO-ICCP, is proposed. Initially, an enhanced TERCOM with an increased rotation angle is utilized to minimize heading errors and reduce the initial position error. The similarity extremum approach evaluates the initial matching outcomes, leading to an enhanced accuracy in the initial results. Next, artificial bee colony (ABC)-optimized PSO is employed for secondary matching to further reduce the initial position error and narrow the matching area. Finally, the ICCP, using the Mahalanobis distance as the objective function, is applied for the third matching, leveraging the ICCP’s fine search capabilities. The effective combination of these three algorithms significantly improves the terrain-aided navigation matching effect. Two tests show that the improved TERCOM-PSO-ICCP effectively reduces the matching error and corrects the position of the INS. |
| format | Article |
| id | doaj-art-b5e3ecc3df784fc7bcfa3d78bad4981c |
| institution | OA Journals |
| issn | 2078-2489 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | MDPI AG |
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| spelling | doaj-art-b5e3ecc3df784fc7bcfa3d78bad4981c2025-08-20T01:55:33ZengMDPI AGInformation2078-24892024-09-0115953210.3390/info15090532A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater VehiclesDan Wang0Liqiang Liu1Yueyang Ben2Liang Cao3Zhongge Dong4College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaSchool of Information and Electronic Engineering, Zhejiang University of Science & Technology, Hangzhou 313399, ChinaCollege of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, ChinaChina Railway Harbin Group Co., Ltd., Harbin 150006, ChinaHeilongjiang Academy of Agricultural Machinery Sciences, Heilongjiang Academy of Agricultural Sciences, Harbin 150090, ChinaThe position error in an inertial navigation system (INS) for autonomous underwater vehicles (AUVs) increases over time. Terrain-aided navigation can assist in correcting these INS position errors. To enhance the matching accuracy under large initial position errors, an improved terrain matching algorithm comprising terrain contour matching (TERCOM), particle swarm optimization (PSO), and iterative closest contour point (ICCP), named TERCOM-PSO-ICCP, is proposed. Initially, an enhanced TERCOM with an increased rotation angle is utilized to minimize heading errors and reduce the initial position error. The similarity extremum approach evaluates the initial matching outcomes, leading to an enhanced accuracy in the initial results. Next, artificial bee colony (ABC)-optimized PSO is employed for secondary matching to further reduce the initial position error and narrow the matching area. Finally, the ICCP, using the Mahalanobis distance as the objective function, is applied for the third matching, leveraging the ICCP’s fine search capabilities. The effective combination of these three algorithms significantly improves the terrain-aided navigation matching effect. Two tests show that the improved TERCOM-PSO-ICCP effectively reduces the matching error and corrects the position of the INS.https://www.mdpi.com/2078-2489/15/9/532terrain contour matching (TERCOM)iterative closest contour point (ICCP)particle swarm optimization (PSO)artificial bee colony (ABC) |
| spellingShingle | Dan Wang Liqiang Liu Yueyang Ben Liang Cao Zhongge Dong A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles Information terrain contour matching (TERCOM) iterative closest contour point (ICCP) particle swarm optimization (PSO) artificial bee colony (ABC) |
| title | A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles |
| title_full | A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles |
| title_fullStr | A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles |
| title_full_unstemmed | A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles |
| title_short | A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles |
| title_sort | novel algorithm for enhancing terrain aided navigation in autonomous underwater vehicles |
| topic | terrain contour matching (TERCOM) iterative closest contour point (ICCP) particle swarm optimization (PSO) artificial bee colony (ABC) |
| url | https://www.mdpi.com/2078-2489/15/9/532 |
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