摘要
高精度的导航信息是水下无人航行器(UUV)高效完成各项任务的重要前提,多普勒计程仪/捷联惯性导航系统(DVL/SINS)组合导航系统具有无源、自主等优势,在UUV导航中得到了广泛应用。从DVL/SINS导航数据处理的三个阶段出发,详细论述了传感器误差建模与补偿技术、水下初始对准技术和数据融合算法的基本原理和研究现状;总结了各项技术的关键问题和研究方向,并给出了相应的解决思路;最后,探讨了DVL/SINS组合导航的发展趋势和需要解决的问题。
High precision navigation information is an important prerequisite for Unmanned Underwater Vehicle(UUV) to efficiently complete various tasks. Doppler Velocity Log(DVL)/Strap Inertial Navigation System(SINS) integrated navigation system has the advantages of passive autonomy and has been widely used in UUV navigation. Dividing UUV navigation data processing into three stages, the basic principles and research status of sensor error modeling and compensation technology,underwater initial alignment technology and integrated navigation technology are discussed in detail. The key problems and research directions of each technology are summarized, and the corresponding solutions are given. Finally, the development trend of UUV navigation and the problems to be solved are discussed. The research in this paper can provide some reference for the research of UUV high precision integrated navigation.
作者
靳凯迪
柴洪洲
宿楚涵
郭云飞
李明
JIN Kaidi;CHAI Hongzhou;SU Chuhan;GUO Yunfei;LI Ming(Information Engineering University,Zhengzhou 450001,China)
出处
《导航定位学报》
CSCD
2022年第2期1-12,92,共13页
Journal of Navigation and Positioning
基金
国家自然科学基金项目(42074014)
军队“双重”建设项目(2021ky032)。
关键词
水下无人航行器
惯性导航
多普勒测速仪
组合导航
关键技术
unmanned underwater vehicle
strapdown inertial navigation system
Doppler velocity log
integrated navigation
key technology
