美俄水下重力辅助惯性导航技术发展分析与思考

Analysis and Reflections on the Development of Underwater Gravity-Aided Inertial Navigation Technology in the United States and Russia

中国水下重力辅助惯性导航技术发展正处于关键期,面临诸多困难和挑战,既有研究思路上的认知问题,又有核心技术上的“卡脖子”难题,需要人们集中智慧、创新思维,寻找破解这些难题的办法。首先将重力辅助导航技术的内涵明确定义为重力补偿和重力修正两类辅助导航技术的统称,分析评述了美俄两国在这个研究领域的发展方略、规划布局、发展思路、研发路径、创新成果、测试应用及一些值得关注的发展动向,总结归纳了两国研发历程不同阶段的技术特征和成功经验,对照分析了中国研究进程与两国的差异和差距,依据中国国情提出了5个方面的对策和建议,涉及研究思路、研发重点和优先事项安排等方向性议题,旨在抛砖引玉、深入交流、达成共识,为决策部门部署下一步工作提供参考。

Objectives:The development of underwater gravity-aided inertial navigation technology in Chi⁃na is coming to a critical period and faces many difficulties and challenges.There are both cognitive prob⁃lems in research ideas and“stuck neck”problems in key technologies,which require us to concentrate our wisdom and make creative thinking,and to find ways to solve these problems.Methods:First,we clearly define the connotation of gravity-aided navigation technology as the general term for two types of the aided navigation technologies:gravity compensation and gravity correction.Second,we analyze and re⁃view the development strategies,planning layout,development ideas,research and development paths,in⁃novation results,test applications and some development trends worthy of attention in this research field in the United States and Russia,summarize the technical characteristics and successful experiences at diffe-rent stages of the research and development process of the two countries.Results:The characteristics of technological development in the United States include:(1)The demand for gravity compensation has been leading the development of gravity data modelling technology.(2)The demand for gravity compensation has been leading the development of gravity equipment technology.(3)The progress of gravity equipment technology has been promoting the development of gravity correction technology.The technological devel⁃opment characteristics in Russia include:(1)The military requirement has been dominating the development of sea and air gravity equipment technology.(2)The special attention has been paid to the researches on the correction algorithms of inertial navigation system parameter using gravity information.Finally,we compa-ratively analyze the differences and gaps research process between China and the two countries,and put for⁃ward five aspects of countermeasure and suggestion based on China's national conditions,involving direc⁃tional issues such as research ideas,development focus,and priority arrangements.Conclusions:The pur⁃pose is to attract ideas,exchange in-depth,reach consensus,and provide reference for decision-making de⁃partments to deploy the next work.Our specific countermeasures and suggestions are:(1)Give priority to the first task of gravity compensation.(2)Urgently promote detail gravity measurements in the key sea areas and gravimeter development for polar region.(3)Focus on the development of nonlinear filtering technolo⁃gy and filtering algorithms for gravity correction.(4)Give priority to the development of practical software-based gravity-aided inertial navigation systems.(5)Strengthen the requirement demonstration and top-level design for gravity-aided inertial navigation.