摘要
导航技术是自主式水下航行器(AUV)系统技术发展与应用的关键技术之一,而组合导航因其稳定性、精确性和持久性,已成为未来AUV导航技术的主要发展方向。文中简述了AUV传统导航技术和非传统导航技术发展概况,详细介绍了惯性导航系统(INS)/声学组合导航、INS/地球物理组合导航、INS/视觉组合导航和INS/天文组合导航的研究和应用现状。分析可知, INS/地磁匹配组合导航、INS/重力匹配组合导航已成为军事领域AUV导航技术的发展趋势; INS/长基线(LBL)组合导航则为民用领域AUV导航技术的发展趋势。文中同时展望了INS/地磁匹配组合导航、INS/重力匹配组合导航和INS/LBL组合导航等热门导航技术的研究方向。
Navigation technology is one of the key technologies in the development and application of an autonomous undersea vehicle(AUV). Integrated navigation has become the development direction of AUV navigation technology in the future because of its higher stability, accuracy and persistency. This paper briefly describes the development of traditional navigation technologies and non-traditional navigation technologies for an AUV, and analyzes the application and research status of the inertial navigation system(INS)/acoustic integrated navigation, INS/geophysical integrated navigation, INS/visual integrated navigation, and INS/astronomical integrated navigation. It is concluded that the INS/geomagnetic matching integrated navigation and INS/gravity matching integrated navigation have become the development trend of AUV navigation technologies in military fields, and the INS/long baseline(LBL) integrated navigation has become the development direction of AUV navigation technologies in civilian fields. In addition, the research directions of the INS/geomagnetic matching integrated navigation, INS/gravity matching integrated navigation, and INS/LBL integrated navigation are looked forward.
作者
魏博文
吕文红
范晓静
朱友康
郭银景
WEI Bo-wen;Lü Wen-hong;FAN Xiao-jing;ZHU You-kang;GUO Yin-jing(College of Electronic Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China;College of Transportation, Shandong University of Science and Technology, Qingdao 266590, China)
出处
《水下无人系统学报》
北大核心
2019年第1期1-9,共9页
Journal of Unmanned Undersea Systems
基金
山东省重点研发计划(公益类专项)项目(2018GHY115022)
关键词
自主水下航行器
惯性导航系统
组合导航
autonomous undersea vehicle(AUV)
inertial navigation system(INS)
integrated navigation
