Integration Terrain Match Algorithm Based on Terrain Entropy and Terrain Variance Entropy

UUV mainly based on INS.As UUV operating speed is relatively slow,INS with a cumulative time of the shortcomings positioning error increases.Terrain-aided navigation can correct the error.The concept of terrain entropy and terrain difference entropy underwater in the paper is introduced the terrain match algorithm,and design the algorithm of based on terrain entropy and terrain variance entropy,and the algorithm is used terrain-aided navigation.The algorithm is certified good result,the algorithm finish the task of the underwater terrain-aided navigation.