{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:22:29Z","timestamp":1760145749439,"version":"build-2065373602"},"reference-count":32,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2024,9,2]],"date-time":"2024-09-02T00:00:00Z","timestamp":1725235200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National key Research Program of China","award":["2021YFC2801300"],"award-info":[{"award-number":["2021YFC2801300"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Information"],"abstract":"<jats:p>The position error in an inertial navigation system (INS) for autonomous underwater vehicles (AUVs) increases over time. Terrain-aided navigation can assist in correcting these INS position errors. To enhance the matching accuracy under large initial position errors, an improved terrain matching algorithm comprising terrain contour matching (TERCOM), particle swarm optimization (PSO), and iterative closest contour point (ICCP), named TERCOM-PSO-ICCP, is proposed. Initially, an enhanced TERCOM with an increased rotation angle is utilized to minimize heading errors and reduce the initial position error. The similarity extremum approach evaluates the initial matching outcomes, leading to an enhanced accuracy in the initial results. Next, artificial bee colony (ABC)-optimized PSO is employed for secondary matching to further reduce the initial position error and narrow the matching area. Finally, the ICCP, using the Mahalanobis distance as the objective function, is applied for the third matching, leveraging the ICCP\u2019s fine search capabilities. The effective combination of these three algorithms significantly improves the terrain-aided navigation matching effect. Two tests show that the improved TERCOM-PSO-ICCP effectively reduces the matching error and corrects the position of the INS.<\/jats:p>","DOI":"10.3390\/info15090532","type":"journal-article","created":{"date-parts":[[2024,9,2]],"date-time":"2024-09-02T12:54:42Z","timestamp":1725281682000},"page":"532","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Novel Algorithm for Enhancing Terrain-Aided Navigation in Autonomous Underwater Vehicles"],"prefix":"10.3390","volume":"15","author":[{"given":"Dan","family":"Wang","sequence":"first","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Liqiang","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Information and Electronic Engineering, Zhejiang University of Science & Technology, Hangzhou 313399, China"}]},{"given":"Yueyang","family":"Ben","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Liang","family":"Cao","sequence":"additional","affiliation":[{"name":"China Railway Harbin Group Co., Ltd., Harbin 150006, China"}]},{"given":"Zhongge","family":"Dong","sequence":"additional","affiliation":[{"name":"Heilongjiang Academy of Agricultural Machinery Sciences, Heilongjiang Academy of Agricultural Sciences, Harbin 150090, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,2]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"116704","DOI":"10.1016\/j.oceaneng.2024.116704","article-title":"Deep learning-based robust positioning scheme for imaging sonar guided dynamic docking of autonomous underwater vehicle","volume":"293","author":"Wang","year":"2024","journal-title":"Ocean Eng."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"250","DOI":"10.1016\/j.oceaneng.2017.04.047","article-title":"Survey on advances on terrain based navigation for autonomous underwater vehicles","volume":"139","author":"Melo","year":"2017","journal-title":"Ocean Eng."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"111870","DOI":"10.1016\/j.measurement.2022.111870","article-title":"A new contour-based combined matching algorithm for underwater terrain-aided strapdown inertial navigation system","volume":"202","author":"Ding","year":"2022","journal-title":"Measurement"},{"key":"ref_4","first-page":"1320","article-title":"An improved TERCOM underwater geomagnetic matching navigation algorithm","volume":"34","author":"Zhao","year":"2009","journal-title":"J. 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