引用本文: 刘现鹏, 张立华, 王涛, 曹鸿博. 基于航迹线追踪的TERPM定位算法[J]. 武汉大学学报 ( 信息科学版), 2018, 43(2): 219-226.
LIU Xianpeng, ZHANG Lihua, WANG Tao, CAO Hongbo. TERPM Locating Algorithm Based on Trajectory Tracking[J]. Geomatics and Information Science of Wuhan University, 2018, 43(2): 219-226.
 Citation: LIU Xianpeng, ZHANG Lihua, WANG Tao, CAO Hongbo. TERPM Locating Algorithm Based on Trajectory Tracking[J]. Geomatics and Information Science of Wuhan University, 2018, 43(2): 219-226.

## TERPM Locating Algorithm Based on Trajectory Tracking

• 摘要: 针对TERCOM（terrain contour matching）算法定位精度对航向误差敏感和算法普适性差等不足，提出了一种基于航迹线追踪的TERPM（terrain profile matching locating algorithm）定位算法。利用INS（inertial navigation system）提供的速度和航向信息对UV（underwater vehicles）的航迹进行追踪，在遍历基准地形时考虑航向误差对数据选取的影响，组合最优匹配的判别方法，提高定位算法的抗噪性。实验结果表明：TERPM定位算法适用于机动UV的精确定位且定位精度对航向误差不敏感；与已有的TERCOM改进算法相比，新算法具有更高的定位精度和更好的抗噪性能。

Abstract: Aiming at solving the disadvantages of TERCOM (Terrain Contour Matching) algorithm in its locating precision is heavily influenced by INS (Inertial Navigation System) course deviation and its narrow adaptation, TERPM (Terrain Profile Matching locating algorithm) based on trajectory tracking is proposed. To build up the algorithm, the trajectory positions of the object is calculated using its speed and course information supplied by INS; furthermore, its course deviation is taken into account in calculating the reference depth profile from the base map, and lastly, optimal judgement algorithm used to select the best matching is combined to guarantee its wide adaptation. The experimental results demonstrate that:TERPM algorithm is competent to locate maneuvering UV accurately and the INS course deviation has little influence on the location result; the newly proposed TERPM algorithm can obtain more accurate location with bigger noise comparing to the current modified TERCOM.

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