Underwater Terrain Navigability Analysis Based On Multi-beam Data

At present, most underwater vehicles adopt inertial navigation systems as navigation equipment. Because the positioning errors accumulate with time, the accuracy of navigation will decline if it is used for a long time. Thus, external information must be used regularly to correct the navigation system. In recent years, many non-traditional navigation and positioning technology have emerged. Terrain aided navigation technology is one of them, and it has become a hot research issue in the field of underwater navigation.The positioning accuracy of seabed terrain aided navigation system is high related with the selection of matching area. Thus, selection methods and theoretical basis for the selection of matching area must be researched. Namely, analyze the seabed to determine if it is properly used for terrain aided navigation to ensure the terrain aided navigation system performance.In this paper, a certain seabed area is selected as research object. After understanding the terrain-aided navigation technology, the information amount of terrain navigation, topographic analysis and other related concepts and principles, the trend between the positioning error and characteristic parameters is obtained by analyzing the positioning error curves and characteristic curves. At the same time the multi-parameter analysis method and topography entropy analysis method are used in the experiment to analyze the terrain data. The result ensures the feasibility of the two methods and also pointed out their problems.Finally, the paper focuses on the fuzzy synthetic decision concepts and the improved method for fuzzy synthetic decision model which is used to analyze the seabed and solves out the membership matrix and related weights. Then, the relationship between the number of terrain and indicator weights is concluded according to the data analysis. At last, using the experimental sample terrain data, the feasibility of fuzzy synthetic decision method is assured.