Selection of matching area in terrain match aided navigation

Terrain match aided navigation is a new method in navigation technology of underwater vehicles.In this paper,the real terrain data were obtained by using Multi-Beam Sounding System,and ICCP algorithm was selected as registration matching algorithm.The measured terrain data and the algorithm show that the terrain matching is influenced by various statistical characteristics of the measured terrain data.The empirical selection criterion of matching area was given by using local terrain standard deviation and local terrain correlation coefficient as quantity indexes in selecting terrain matching area.So the accumulative errors of the Inertial Navigation System can be corrected,and the optimal matching position can be obtained.