Study on the Algorithm of Sea Bottom Terrain Match

Terrain matching assistant navigation is a new method in navigation technology of the underwater vehicles. In this paper, ICCP algorithm is studied and improved with MATLAB. By measured terrain data at real time and real multi-beam bathymetric measured terrain data, the accumulative errors of the inertial navigation system can be corrected and the optimal matching position can be gotten. In order to validate match position and the availability of improved ICCP algorithm, the error of the match position is of observed quantity, and the error of the navigation system is analyzed by Kalman filter. There are many simulation examples to validate the influence of each error source on matching error.