AUV导航技术发展现状与展望
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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.
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.
引文
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[32]Keller J.Hydronalix Developing Buoy for Unmanned Underwater Vehicle Control and Communications[J].Military&Aerospace Electronics.2018,29(2):33-34.
[33]Sullivan J.An Acoustic Positioning Buoy[J].IEEEPotentials,2017,36(2):16-19.
[34]Song Z,Bian H,Zielinski A.Underwater Terrain-aided Navigation Based on Multibeam Bathymetric Sonar Images[J].Journal of Marine Science&Application,2015,14(4):425-433.
[35]Majumder S,Scheding S,Durrant-Whyte H F.Multisensor Data Fusion for Underwater Navigation[J].Robotics&Autonomous Systems,2001,35(2):97-108.
[2]周伟,李仲铀.俄、美新型水下导航系统发展分析[J].现代军事,2017(3):64-67.
[3]计划“水下GPS高精度定位系统”课题组.我国首套水下GPS高精度定位导航系统简介[J].中国水利,2004(3):52-53.
[4]郑彤.国外水下导航技术现状分析[J].舰船电子工程,2016,36(10):8-10.Zheng Tong.Present Status Study on the Foreign Underwater Navigation Techniques[J].Ship Electronic Engineering,2016,36(10):8-10.
[5]陈强,张林根.美国军用UUV现状及发展趋势分析[J].舰船科学技术,2010,32(7):129-134.Chen Qiang,Zhang Lin-gen.Analysis of Current Situational Development Trend of US Military UUV[J].Ship Science and Technology,2010,32(7):129-134.
[6]董进武.惯性导航技术浅析[J].仪表技术,2017(1):41-43.
[7]尹伟伟,郭士荦.非卫星水下导航定位技术综述[J].船舶电子工程,2017(3):8-11.Yin Wei-wei,Guo Shi-luo.Survey on Non-satellite Underwater Navigation and Positioning Technology[J].Ship Electronic Engineering,2017(3):8-11.
[8]Seddik M S I,Jaulin L,Grimsdale J.Phase Based Localization for Underwater Vehicles Using Interval Analysis[J].Mathematics in Computer Science,2014,8(3-4):495-502.
[9]张居成.深水长基线定位导航技术研究[D].哈尔滨:哈尔滨工程大学,2014.
[10]Sonardyne公司.Products&Services[EB/OL].[2018-04-12].https://www.sonardyne.com/who-are-we/#.
[11]iXblue公司.Products&Solutions[EB/OL].[2018-04-15].https://www.ixblue.com.
[12]iXBlue公司.iXBlue Celebrates a Major Sales Milestone:More than 250 USBL acoustic positioning systems[EB/OL].[2015-04-16][2018-05-10]https://www.Prnewswire.com/news-releases/ixblue-celebrates-a-major-sales-mil-st one-more-than-250-usbl-acoustic-positioning-syste-ms-300065060.
[13]张涛,胡贺庆,王自强,等.基于惯导及声学浮标辅助的水下航行器导航定位系统[J].中国惯性技术学报,2016,24(6):741-745.Zhang Tao,Hu He-qing,Wang Zi-qiang,et al.Underwater Positioning System Based on INS and Acoustic Buoy System for Underwater Vehicle[J].Journal of Chinese Inertial Technology,2016,24(6):741-745.
[14]Fang X P,Yan W S,Zhang F B,et al.Formation Geometry of Underwater Positioning Based on Multiple USV/AUV[J].Systems Engineering&Electronics,2014,36(5):947-951.
[15]胡小平.导航技术基础[M].北京:国防工业出版社,2015:123-124.
[16]郑彤,边少锋,王志刚.基于ICCP匹配算法的海底地形匹配辅助导航[J].海洋测绘,2008,28(2):21-23.Zheng Tong,Bian Shao-feng,Wang Zhi-gang.The Terrain Matching Assistant Navigation Based on ICCP Algorithm[J].Hydrographic Surveying and Charting,2008,28(2):21-23.
[17]Nakatani T,Ura T,Sakamaki T,et al.Terrain Based Localization for Pinpoint Observation of Deep Seafloors[C]//Oceans 2009,Toyko:IEEE,2009:1-6.
[18]Meduna D K,Rock S M,Mcewen R S.Closed-loop Terrain Relative Navigation for AUVs with Non-inertial Grade Navigation Sensors[C]//2010 IEEE/OESAutonomous Underwater Vehicles.Piscataway:IEEE,2010:1-8.
[19]Meduna D K,Rock S M,Mcewen R S.Low-Cost Terrain Relative Navigation for Long-Range AUVs[C]//Oceans2008.Piscataway:IEEE,2008:1-7.
[20]刘勇.海底地形匹配导航技术研究[D].哈尔滨:哈尔滨工程大学,2009.
[21]丁永忠,王建平,徐枫.地磁导航在水下航行体导航中的应用[J].鱼雷技术,2009,17(3):47-51.Ding Yong-zhong,Wang Jian-ping,Xu Feng.Application of Magnetic Navigation to Underwater Vehicle[J].Torpedo Technology,2009,17(3):47-51.
[22]高永琪,黄文玲.鱼雷导航与控制技术[M].北京:兵器工业出版社,2015:259-262.
[23]孙玉山,万磊,庞永杰.潜水器导航技术研究现状与展望[J].机器人技术与应用,2010,(1):31-42.
[24]Reynolds J.Autonomous Underwater Vehicle:Vision System[D].Australia:Australian National Univerisity,1998.
[25]Akiba T,Kakui Y.Design and Testing of an Underwater Microscope and Image Processing System for the Study of Zooplankton Distribution[J].IEEE Journal of Oceanic Engineering,2000,25(1):97-104.
[26]孔捷,张保民.激光水下成像技术及其进展[J].光电子技术,2006,26(2):59-62.Kong Jie,Zhang Bao-min.The Review of Underwater Laser Imaging Technology and Its Development[J].Optoelectronic Technology,2006,26(2):59-62.
[27]刘广荣,黄睿,金伟其,等.水下探测光电成像技术及其进展[J].光学技术,2004,30(6):732-734.Liu Guang-rong,Huang Rui,Jin Wei-qi,et al.Recent Developments in Underwater Imaging Technique[J].Optical Technique,2004,30(6):732-734.
[28]周军,葛致磊,施桂国,等.地磁导航发展与关键技术[J].宇航学报,2008,29(5):1467-1472.Zhou Jun,Ge Zhi-lei,Shi Gui-guo,et al.Key Technique and Development for Geomagnetic Navigation[J].Journal of Astronautics,2008,29(5):1467-1472.
[29]李珊珊.水下重力辅助惯性导航的理论与方法研究[D].郑州:解放军信息工程大学,2010.
[30]张红伟.水下重力场辅助导航定位关键技术研究[D].哈尔滨:哈尔滨工程大学,2013.
[31]秦政,边信黔,施小成,等.水下运载体重力辅助惯性导航系统仿真平台[J].武汉大学学报(信息科学版),2008,33(7):755-758.Qin Zheng,Bian Xin-qian,Shi Xiao-cheng,et al.Simulation Platform of Gravity Aided Inertial Navigation System for Underwater Vehicle[J].Geomatics and Information Scinece of Wuhan University,2008,33(7):755-758.
[32]Keller J.Hydronalix Developing Buoy for Unmanned Underwater Vehicle Control and Communications[J].Military&Aerospace Electronics.2018,29(2):33-34.
[33]Sullivan J.An Acoustic Positioning Buoy[J].IEEEPotentials,2017,36(2):16-19.
[34]Song Z,Bian H,Zielinski A.Underwater Terrain-aided Navigation Based on Multibeam Bathymetric Sonar Images[J].Journal of Marine Science&Application,2015,14(4):425-433.
[35]Majumder S,Scheding S,Durrant-Whyte H F.Multisensor Data Fusion for Underwater Navigation[J].Robotics&Autonomous Systems,2001,35(2):97-108.