Seafloor terrain 2-dimensional matching based on fast fourier transform

Seafloor terrain matching is applied to increase the localization accuracy for autonomous underwater vehicles (AUV). A seafloor terrain 2-dimensional matching algorithm in terms of Fast Fourier Transform (FFT algorithm) was proposed. By way of FFT, the amplitude was used to perform terrain matching. A position matching circle model and an orientation search model were designed to get the position and direction of realtime map within reference map. The algorithm was verified by using practical water depth data of certain seafloor. Simulation results show that it can obtain information about position and direction of realtime map respectively with higher precision and somewhat robusticity.