Based on analyzing current autonomous navigation methods, a new underwater navigation method in virtue of characteristic seabed relief image is presentsed. A synthetic method integrating wavelet and improved sequential similarity detection algorithm (SSDA) for implementing the fast image match is studied as well. In image match navigation, a kind of method for eliminating error match is given out by the distance restriction and the orientation restriction in virtue of the vessel heading and the positioning estimation from inertial navigation system (INS). Moreover, the method is feasible proved through the actual experiment.%在简要分析现有自主导航方法的基础上,给出了一种基于海床特征地貌,实施水下匹配导航的快速准确算法.研究了基于小波与改进型SSDA相结合的快速匹配算法,并给出了从粗匹配到精匹配的实施过程.为消除误匹配问题的影响,提出了基于距离和方位约束的匹配方法,实现了误匹配的有效检测和修正.实际海上导航试验验证了上述方法的正确性.
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