Underwater Terrain-Aided Navigation Relocation Method in the Arctic

Figure 4

The localization results of TAN system in different terrain area. (a) TAN positioning path (the white path is the reference path, the red path is the positioning value in the rough area, and the pink path is the positioning value in the flat area). (b) Positioning error in rough area. (c) Positioning error in flat area.

(a)

(b)

(c)