摘要
自主式水下航行器(AUV)作为海洋资源的开发与利用的主要载体,执行任务时需要准确的定位信息.现有AUV主要采用捷联惯性导航系统(SINS)为主,声学导航和地球物理场匹配导航技术为辅的导航方式.本文简述水下导航方式基本原理、优缺点和适用场景;探讨各类导航方式包含的关键技术,提高组合导航精度和稳定性.通过分析现阶段存在问题,展望水下导航的未来发展趋势.
As the main carrier for the development and utilization of marine resources,autonomous underwater vehicles(AUV) need accurate positioning information when performing tasks.The main navigation mode of AUV is based on strap-down inertial navigation system(SINS),assisted by acoustic navigation and geophysical field matching.This paper introduces the basic principles,advantages and disadvantages and application scenarios of various underwater navigation modes.The key technologies of various navigation modes are researched to improve the precision and stability of integrated navigation.By analyzing the existing problems at present,the future development trend of underwater navigation is forecasted.
作者
张涛
夏茂栋
张佳宇
朱永云
童金武
ZHANG Tao;XIA Maodong;ZHANG Jiayu;ZHU Yongyun;TONG Jinwu(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China;Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology,Ministry of Education,Southeast University,Nanjing 210096,China;Key Laboratory of Modern Agricultural and Technology,Ministry of Education and Jiangsu Province,Jiangsu University,Zhenjiang 212013,China;School of Innovation&Entrepreneurship,Industrial Center,Nanjing Institute of Technology,Nanjing 211167,China)
出处
《全球定位系统》
CSCD
2022年第4期1-16,共16页
Gnss World of China
基金
国家自然科学基金(52071080)
中央高校基本科研业务费专项资金(2242021K1G008,2242022K30017,2242022K30018)
东南大学微惯性仪表与先进导航技术教育部重点实验室(B类)开放基金资助项目(SEU-MIAN-202002)
南京工程学院引进人才科研启动基金项目(YKJ202043)
江苏省研究生实践创新基金(SJCX21_0028)。
