水下地形匹配导航中的地形可导航性分析

水下地形匹配导航是潜航器利用海底地形地貌的分布特征进行相关匹配运算，从而实现准确定位的导航方法，即使是同一潜航器在经过不同地形特征区时其匹配精度差异较大。针对该问题，提出了基于地形统计特征的可导航系数，用以衡量某一地形区域的可导航性能，并运用PMF算法对不同导航系数的航路进行了导航性能仿真。仿真结果表明，该系数可作为水下地形匹配导航航路选择的参照标准，从而有效地提高水下潜器的导航精度。

Study on the Terrain Navigable Performance About Underwater Terrain Match Navigation

Underwater terrain match aided navigation is a universal technology for navigation, that under water vehicles use the distribution characteristics of the underwater to match the date, in order to achieve accurate positioning navigation. But the same matching algorithm has different matching accuracy in differ ent areas. Thus the navigation coefficient was proposed to measure the navigation performance in some are as, which is based on the statistical characteristics of the terrain. Some simulation experiments was done with PMF （pointmass filter） algorithm in routes, which have different navigation coefficients. The result of the simulation indicate that the navigation coefficient can be used as the criteria to select route and can effectively improve the navigation accuracy of the underwater vehicles.