Double-circle sub-template underwater terrain matching method

Abstract

The present invention provides a double-circle sub-template underwater terrain matching method. The method comprises: acquiring a strip by a multi-beam sounding system, forming a two-dimensional elevation array by means of data processing, transforming the two-dimensional elevation array into a gray-scale value, forming a to-be-matched template, calling an original database terrain elevation map, transforming the original database terrain elevation map into a gray-scale map, and forming a search mother map; selecting a relatively large template, selecting two small sub-templates as inscribed circles, determining a positional relationship between the double circles, and performing double-circle sub-map search matching on the mother map; and extracting an image corner point feature amount, matching double-circle sub-maps searched by the mother map with the sub-templates, and acquiring the position of an underwater vehicle. Compared with a conventional single template matching method, the double-circle sub-template underwater terrain matching method provided by the present invention solves the problem of excessively long traversal search matching time; and by using a circular template, the calculation complexity of a corner point feature detection algorithm can be lowered, the influence of problems such as rotation, affine transformation and the like is overcome, the matching time is shortened, the matching precision is improved, and very good generalization and applicability are achieved.

Description

technical field [0001] The invention relates to a double-circle sub-template underwater terrain matching method, which belongs to the technical field of underwater navigation. Background technique [0002] The terrain-related matching algorithm was first applied in aviation, and successfully tested in fighter jets and cruise missiles, such as the terrain-assisted navigation system developed by the British Aerospace Agency, referred to as the Terrain Profile Matching System (TERCOM); the US Sandia Laboratory The developed Sandia Terrain Aided Navigation Method (SITAN) has also been researched and developed a terrain assisted navigation system in China, and has been successfully tested on equipped weapons. [0003] The mature application of terrain matching technology at home and abroad is mainly concentrated in aviation and ground. Since the 21st century, the strategic position of marine resources in various countries has become more and more important. Underwater precise pos...

AI Technical Summary

Problems solved by technology

However, the above algorithms are either based on one-dimensional sequence matching, with less information, or have problems such as anti-rotation and translation, and most of them use square single templates for matching, and there are problems such as too long matching time

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