UUV多源自主导航关键技术研究

Research on Key Technologies of UUV Multi-source Autonomous Navigation

针对强对抗、非线性、多样化等未来水下无人系统作战态势需求,以大排量无人潜航器(Unmanned Underwater Vehicle,UUV)为载体平台,结合潜航器战技指标梳理了总体性能、总体结构、能源供电、动力推进、导航控制等内部逻辑关系,设计了潜航器惯性基多源自主导航总体工作流程以及扩展卡尔曼滤波模型,提出了大排量无人潜航器的未来技术发展趋势,为大型UUV长航时自主导航提供了基本思路。

Aiming at the strong confrontation,nonlinearity,diversification and other operational situation requirements of future underwater unmanned systems,the large displacement unmanned underwater vehicle(UUV)is taken as the carrier platform,which leads to the summaries on the internal logic relationship of overall performance,overall structure,energy supply,power propulsion and navigation control under the combat technical index of UUV.The overall work flow of UUV inertial multi-source autonomous navigation and the extended Kalman filter model are designed.The future technical development trend of large displacement UUV is put forward,which provides a basic idea for large UUV long endurance autonomous navigation.