摘要
导航与定位技术是自主水下航行器(AUV)预设任务并安全返航的前提,由于水下环境的限制,目前广泛采用多系统组合导航的方式来实现AUV的准确定位。面向AUV的工况特点,详细介绍了水声测速系统、水声定位系统以及地球物理场辅助导航技术的特征与技术难点,分析了用于水下自主导航时多源组合导航方法的最新进展,随着相关测量仪器领域的研究进展,基于精确测量地球物理场特征的辅助导航技术成为具有极强竞争力的方案之一。多AUV协同导航方案同样适用于复杂的水下环境,被视为未来AUV导航技术重要发展方向。
Navigation and positioning technology is a prerequisite for the autonomous underwater vehicle(AUV)to carry out pre-set tasks and safely return.Due to the constraints of the underwater environment,a widely adopted approach to achieve precise positioning of AUVs is through the combination of multiple navigation systems.This article focuses on the operational characteristics of AUVs and provides a detailed introduction to the features and technical challenges of acoustic velocity measurement systems,acoustic positioning systems,and geophysical field-assisted navigation technologies.The latest development of multi-source integrated navigation methods for underwater autonomous navigation is analyzed.It is worth noting that,with the recent advancements in relevant measurement instruments,geophysical field-assisted navigation technology based on precise measurements of the Earth’s physical fields has emerged as a highly competitive solution.Furthermore,multi-AUV cooperative navigation schemes are equally applicable to complex underwater environments and are considered as a significant development direction for future AUV navigation technology,which is extensively discussed in this article.
作者
张淋
谭良成
ZHANG Lin;TAN Liangcheng(School of Shipping and Naval Architecture,Chongqing Jiaotong University,Chongqing 400074,China)
出处
《兵器装备工程学报》
CAS
CSCD
北大核心
2024年第3期161-171,共11页
Journal of Ordnance Equipment Engineering
基金
重庆市教委科学技术研究项目(KJQN202200714)
重庆市科技局博士直通车项目(CSTB2022BSXM-JCX0115)。
关键词
自主水下航行器
组合导航
水下声学系统
协同导航
辅助导航
autonomous underwater vehicle
integrated navigation
underwater acoustic system
collaborative navigation
aided navigation
