There are typically unknown deviation tides and stochastic measurement errors in digital elevation map and real-time measurement terrain map, which result in the failure of the matching algorithm. To address the problem of the robust terrain-aided position under the condition of unknown tidal and measurement errors, a new terrain-aided position (TAP) model and a tide level estimation method based on a single-point observation model are proposed in this study. Accordingly, a jump model of the TAP points that considers the nonlinear mapping relationship between the position point and local terrain is proposed. Finally, the effectiveness of the TAP and confidence interval estimation algorithms are verified based on shipborne measurement data with a difference in terrain variability. Future research will focus on revealing the relation between terrain characteristics and directionality of the TAP confidence interval.

在数字高程图和实时测量地形图中通常存在未知的偏差潮和随机测量误差，这会导致匹配算法失败。为解决潮汐和测量误差未知的情况下地形辅助位置的鲁棒性问题，提出了一种新的地形辅助位置模型和基于单点观测模型的潮位估算方法。 。因此，提出了一种考虑了位置点与局部地形之间的非线性映射关系的TAP点的跳跃模型。最后，根据船载测量数据（地形变化不同）验证了TAP和置信区间估计算法的有效性。