基于无人艇跨域异构编队协同导航研究进展与未来趋势

Cooperative navigation of cross-domain heterogeneous unmanned ship formation: recent advances and future trends

基于无人艇(USV)跨域异构编队的协同导航是解决未来水面、水下、天空3个区域导航定位的重要方法。为此,针对上述编队协同导航领域的相关问题,从3个层面进行综述。首先,阐述USV国内外发展情况和基于USV跨域异构编队的概念及研究;然后,对基于USV跨域异构编队协同导航的方式进行分析,并分别从水面/水下跨域异构编队协同定位、空海跨域异构编队视觉导航、基于USV跨域异构编队路径规划这几个方面进行归纳总结;最后,指出基于USV跨域异构编队的关键技术及其未来发展趋势。

Unmanned surface vessel(USV)based cross-domain heterogeneous formation cooperative navigation is an important method for overcoming the difficulties of navigation and positioning facing in the three areas of water surface,underwater and air in the future.This paper reviews related issues in the field of USV based cross-domain heterogeneous formation cooperative navigation from three aspects.First,this paper describes the development of USV at home and abroad,the concept and research progress of USV based crossdomain heterogeneous formation,and analyzes the cooperative navigation methods of USV based crossdomain heterogeneous formation,and summarizes them from three aspects:surface/underwater co-location,air-sea visual navigation,and path planning.Finally,it points out the key technologies and future development trends of USV based cross-domain heterogeneous formation.