多AUV协同导航问题的研究现状与进展

The Research Status and Progress of Cooperative Navigation for Multiple AUVs

自主水下航行器(Autonomous underwater vehicle,AUV)协同导航是未来50年解决水下中间层区域AUV导航定位的重要方法.本文针对多AUV协同导航,对该领域相关问题的研究进展进行了综述,包括:1)论述多AUV协同导航领域的研究现状,包括协同导航问题界定、特点综述与讨论;2)分析多AUV协同导航系统模型及相关算法的研究进展,包括基于优化的、基于参数估计的和基于贝叶斯估计的滤波算法;3)对协同导航网络下的误差建模与补偿方法的研究进展进行了综述,包括未知洋流的影响、水声通信延迟补偿等;4)从影响协同导航定位精度的角度出发,对AUV协同导航的可观测性与编队最优构型设计的研究进展进行了一系列的分析;5)陈述目前多AUV协同导航中存在的关键问题,并讨论其发展趋势.

Cooperative navigation and localization of autonomous underwater vehicles（AUVs） is a significant approach for solving the navigation problem in middle depth zone of underwater condition in the next fifty years. The issue and research development of autonomous underwater vehicle cooperative navigation are reviewed in this paper. 1） The actual development state of multi-AUV cooperative navigation research is introduced including the problem definition,the characteristics analysis, discussion of cooperative navigation, etc. 2） Multi-AUV navigation models and the progress of algorithms are analyzed, including the method based on optimization, parameter estimation and Bayesian estimation filtering algorithm. 3） The development on error model and compensation method of cooperative navigation network,including the unknown currents impact and underwater acoustic communication delay compensation. 4） The research progress on formation design of AUV from the perspective of effect on cooperative navigation and position accuracy. 5）Key problems and development trend of multi-AUV cooperative navigation are described.