Research on Geomagnetic-matching Localization Algorithm for Unmanned Underwater Vehicles

This paper presents a new algorithm for underwater geomagnetic-matching localization. The idea is rooted from image registration and workpiece localization problem. One essential elements of the new algorithm is an algorithm to solve transformation between two point sets. A related problem to this is fitting of two point sets (FTPS). In this paper, FTPS is first introduced and formulated to a least-squares problem. Then four algorithms used to solve FTPS are introduced. Another essential element of the new algorithm is iteration. The iteration method in ICCP is adopted. Based on above two aspects, the main steps of the new method are given. Simulation experiments are designed to evaluate the performance of the new algorithm. The results show that the new algorithm can solve geomagnetic-matching localization satisfactorily.