Underwater Terrain Matching Method Based on Pulse-Coupled Neural Network for Unmanned Underwater Vehicles

Abstract

The positioning results of terrain matching in flat terrain areas will significantly deteriorate due to the influence of terrain nonlinearity and multibeam measurement noise. To tackle this problem, this study presents the Pulse-Coupled Neural Network (PCNN), which has been effectively utilized for image denoising. The interconnection of surface terrain data nodes is achieved through PCNN ignition, which serves to alleviate the reduction in terrain similarity caused by measurement error. This enables the efficient selection of terrain data, ensuring that points with high measurement accuracy are preserved for terrain matching and positioning operations. The simulation results illustrate that the suggested methodology effectively removes terrain data points with low measurement accuracy, thereby improving the performance of terrain matching and positioning.