Underwater Terrain Navigability Analysis Based on Multi-beam Data

According to underwater terrain characteristic, the multi-index synthetic evaluation theory is used for calculating matching area of an underwater terrain-aided navigation system in this paper. Considering the terrain elevation standard deviation, roughness, terrain correlation coefficient, topographic information entropy and other crucial terrain characteristic parameters on the effect of navigation performance, and select system evaluation factors set, then the entropy weight method and CRITIC method is respectively used to determine the weight of every evaluation index, finally educe navigation performance evaluation value of the terrain, which provides the basis reference for each selected matching area. All tests show that the evaluation results which determine the weights with CRITIC method are more stable, and the value higher, the navigation performance is better.