海洋自主水下航行器导航控制与关键技术分析

Navigation Control and Key Technology Analysis for Autonomous Underwater Vehicles in Marine Environments

不同于传统的海面舰船和潜艇等海洋航行器,海洋自主水下航行器是一种具有高度智能化,拥有水下高精度导航技术,能够实现深潜、长距离潜航、全天候水下作业的高度智能化自主水下无人系统。海洋自主水下航行器是一种具有六自由度的欠驱动系统,由于具有高度非线性、参数摄动、多目标控制及控制量受限等因素,因而其水下导航控制十分困难。海洋自主水下航行器的数学模型主要包含两个方程:动力学方程和运动学方程。基于北东地坐标系和体坐标系,研究了海洋自主水下航行器主要导航控制技术,深入分析其水下导航控制系统的基本架构,探讨了水下导航控制关键技术,并且进对其主要水下导航实现方式进行细致分析,从而为海洋自主水下航行器的水下航行提供一个技术实施方案。最后对已经取得的导航技术进行总结,并对今后的研究方向进行展望。

Unlike traditional marine vessels such as surface ships and submarines,autonomous underwater vehicles(AUVs)are highly intelligent,unmanned systems equipped with precise underwater navigation technology that enable deep diving,long-distance operation,and all-weather underwater tasks.AUVs are underactuated systems with six degrees of freedom,characterized by high nonlinearity,parameter perturbations,multi-objective control,and control limitations,which make underwater navigation control highly challenging.The mathematical model of an AUV consists of both the dynamic equation and the kinematic equation.Based on the North-East-Down and body-fixed coordinate systems,this paper examines the primary navigation control technologies for AUVs and analyzes the fundamental architecture of their underwater navigation control systems,while exploring key technologies in underwater navigation control.The paper provides a detailed analysis of major underwater navigation methods to offer a technical implementation framework for AUV underwater navigation.Finally,the paper summarizes current advancements in navigation technology and outlines future research directions.