An underwater terrain matching arithmetic based on particle filter

The conception of residual resampling was introduced.Particles were copied during the two steps,namely the weights classification and residual weights resampling,which improved the operating speed.Then the smoothing depth data was used with a scubic spline interpolation method for generating the underwater DEM of a lake.The simulation results demonstrate that the method is effective.And meanwhile the relationship between the maching error and the underwater terrain was analyzed.