Research on Assembled Underwater Terrain Matching Algorithm Based on ICCP and TERCOM

The advantage and disadvantage of ICCP and TERCOM being used in underwater terrain match are analyzed by simulation.Two assembled algorithms are studied: 1) uses TERCOM to get over the problem caused by the large error of the preliminary position,and then finish the left through ICCP;and the matching rule-mean square difference(MSD) in TERCOM is applied as preventing miss-matching rule in the ICCP.2) uses ICCP to figure out the orientational error first,then finish the left by TERCOM.The simulation results show that assembled algorithms have more robustness and speediness.