Study on Particle Filter Based Terrain Aided Navigation under the Ultra-low Resolution Map of the Arctic

The ultra-low resolution underwater terrain map of the Arctic region reduces the positioning and navigation ability of the underwater vehicle relying on terrain aided navigation. To study the navigation ability of AUVs under the ultra-low resolution terrain map, a TAN(Terrain-Aided Navigation) system based on the classical PF(particle filter) is constructed. Based on the TAN system, the effects of various parameters on the filter navigation accuracy are studied. By comparative analysis, the range of reasonable parameter set is obtained. The simulation results show that the PF-TAN system has strong robustness, and by setting parameters of PF reasonably, the AUV will perform great ability on path tracking under an ultra-low resolution map.