Study on the Arctic Underwater Terrain-Aided Navigation Based on Fuzzy-Particle Filter

The ultra-low resolution underwater terrain maps of the Arctic region reduce the localization and navigation accuracy of the underwater vehicle relying on terrain-aided navigation. In this paper, we study the navigation ability of Autonomous Underwater Vehicles (AUVs) under the ultralow-resolution terrain map. Firstly, the low-resolution map is transformed into a continuous map by bilinear interpolation. Then, a Terrain-Aided Navigation (TAN) system based on the Particle Filter (PF) is constructed to estimate the state of AUV position by particles. Particles of a random distribution of fixed variance can effectively track targets. However, a fixed variance distribution is not well adapted to many different situations. To improve navigation accuracy and robustness, fuzzy logic is used to estimate the distribution variance of particles under the current terrain gradient dynamically. The simulation results show that our proposed Fuzzy-PF TAN system is robust under various current disturbance situations. The position error of our system is within a map resolution unit of 500 m.