Terrain aided navigation for autonomous underwater vehicle

As a means of aiding navigation of underwater, terrain matching technology has been proved to be promising for autonomous underwater vehicles. With the measurement depths data obtained from multi-beam sonar, a method based on Bayesian estimation algorithm is proposed in this paper. The selection of suitable matching field based on terrain entropy is described here and which is helpful for choosing way point where to do the position fixing. The result of simulation shows that the method is robust and has perfect performance for underwater navigation.