水下运载体导航技术

doi:10.3969/j.issn.1674-5558.2020.h4.001

摘要/Abstract

摘要： 本文第一部分综合了国外近几十年根据不同需求形成的多种水下导航技术,论述了面上导航信息利用水声技术向水下转化的多种形式以及利用不同地球物理参数与地理位置相关性导航的各自特点与问题,论述了在测绘海底地形、重力与其它地球物理特性及其变化时在传感器层面和任务层面融而为一所形成的独具水下特色的同步定位与建图(Simultaneous Localization and Mapping,SLAM)导航技术,论述了NavLab作为一个通用工具软件在水下导航系统研发、精度分析以及作业前导航功能规划和导航信息事后处理方面的独特作用。本文第二部分以极具代表性的挪威HUGIN AUV系列产品军民两用为实例,根据任务和导航功能需求,从其“导航工具箱”(ToolBox)选择适用手段,给出典型任务对应的导航方式和传感器。文章结束部分给出了基于先进人工智能技术的未来展望。

关键词: 水下运载体, 水下导航, 惯性导航, 水声技术, 组合导航, 面上导航信息水下转化, 参数匹配技术, 同步定位与建图, 人工智能

Abstract: The first part of this review summarizes various underwater navigation technologies developed in recent decades based on different requirements in other countries. Methods to transfer surface navigation information to underwater environment are described. Characteristics and problems of each correlation navigation method utilizing geophysical parameters as well as geographical positions are discussed respectively. Underwater SLAM navigation technology with regard to its unique underwater characteristics including interconnecting sensors and monitoring objectives during sea floor mapping, gravity and other geophysical parameter measuring is described. A general-purpose tool software, NavLab, which plays a unique role in underwater navigation system including precision analysis, pre-work navigation function planning and navigation information post-processing is discussed. In the second part of this review, the Norwegian HUGIN AUV series is introduced as an example for dual use in military and civil applications. Typical navigation modes and sensors selected from “navigation toolbox”, are described according to the task and navigation function requirements. In the end of the paper, future forecasting of underwater navigation technology is given based on AI technology.

Key words: underwater vehicle, underwater navigation, inertial navigation, acoustic technology, integrated navigation, surface information underwater transfer, parameter matching technology, simultaneous localization and mapping(SLAM), artificial intelligence(AI)

中图分类号:

U666.1

汪顺亭, 汪湛清. 水下运载体导航技术[J]. 导航与控制, 2020, 19(4/5): 1-14.

WANG Shun-ting, WANG Zhan-qing. Underwater Vehicle Navigation Technology[J]. Navigation and Control, 2020, 19(4/5): 1-14.

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