Underwater terrain-matching algorithm based on improved iterative closest contour point algorithm

Although an autonomous underwater vehicle (AUV) is noted for its good autonomy, concealment and anti-interference ability, errors in its inertial navigation system (INS) inevitably increase over time, leading to positional failure during long-term voyages. Terrain-assisted navigation can help the INS to correct its position. The traditional iterative closest contour point (ICCP) achieves high matching accuracy when the initial position error of the INS is small, but is prone to mismatching when the initial error is large. This study combines ICCP with particle swarm optimization (PSO) to overcome this problem. First, the global optimization ability of PSO is improved by changing the acceleration factor and introducing an artificial bee colony (ABC) onlooker bee greedy search (ABC- ωAPSO). Second, the Euclidean distance of ICCP is replaced by the Mahalanobis distance to abate the influence of system error on the matching accuracy. Finally, the initial position error is reduced by rough matching using the ABC- ωAPSO, which has global optimization capability. Next, fine matching is performed by ICCP. This two-step process resolves the sensitivity problem of ICCP to the initial position error. The experimental results revealed a good matching effect after the double-matching procedure. When the initial INS errors were 0.55′ to the east and 0.55′ to the north, the matching error was reduced to 89.3 m, suggesting that the approach can realize autonomous passive navigation of AUVs.