水下重力匹配定位算法综述

doi:10.3969/j.issn.1674-5558.2020.h4.020

导航与控制 ›› 2020, Vol. 19 ›› Issue (4/5): 170-178.doi: 10.3969/j.issn.1674-5558.2020.h4.020

水下重力匹配定位算法综述

王博¹, 付梦印², 李晓平³, 吴太旗⁴, 邓志红¹

1.北京理工大学自动化学院,北京 100081;
2.南京理工大学,南京 210094;
3.中船重工第707研究所,天津 300131;
4.海军海洋测绘研究所,天津 300061

收稿日期:2020-03-14 出版日期:2020-10-05 发布日期:2020-12-22
通讯作者: 付梦印,男,教授、博士生导师,研究方向为组合导航与智能导航技术。承担国防“973”计划项目1项,国家自然科学基金重点项目1项、面上项目2项、科普项目1项,武器装备的研制和生产项目多项,研究成果获得国家科学技术进步奖一等奖1项、二等奖2项,省部级奖励10项。在国内外重要学术刊物上发表学术论文120余篇,其中被SCI和EI收录106篇,获授权发明专利20项,出版专著/教材10本,目前担任中国惯性技术学会副理事长(为本文通信作者,E-mail:fumy@bit.edu.cn)。
作者简介:王博,男,教授、博士生导师,研究方向为水下重力匹配导航、惯性导航、组合导航。主持了10余项国家级、省部级科研项目,研究成果获得省部级/全国学会一等奖2项、二等奖5项,以第一/通信作者发表SCI论文20余篇,授权发明专利30余项,出版专著/教材2本。获批北京市优秀人才、中国科协“求是杰出青年成果转化奖”“茅以升北京青年科技奖”,担任中国卫星导航定位协会副秘书长、青年工作委员会主任。

Review of Underwater Gravity Matching Positioning Algorithm

WANG Bo¹, FU Meng-yin², LI Xiao-ping³, WU Tai-qi⁴, DENG Zhi-hong¹

1. School of Automation, Beijing Institute of Technology, Beijing 100081;
2. Nanjing University of Science and Technology, Nanjing 210094;
3. No. 707 Institute of CSIC, Tianjin 300131;
4. Naval Institute of Hydrographic Surveying and Charting, Tianjin 300061

Received:2020-03-14 Online:2020-10-05 Published:2020-12-22

摘要/Abstract

摘要： 随着重力测量和水下导航技术的发展,惯性/重力匹配导航技术因其精度高、自主性强和航时长等优点,已成为水下自主导航的重要研究方向。惯性/重力匹配导航系统主要由惯性导航系统、重力实时测量、海洋重力场背景图和重力匹配定位算法构成。重力匹配定位算法通过将实时测量的重力异常值与构建的重力场背景图进行匹配,得到水下运载体当前时刻的位置信息,是惯性/重力匹配导航技术的核心。本文详细介绍了重力匹配算法的技术发展现状,重点分析了具有代表性的ICCP算法、SITAN算法、矢量匹配算法及其衍生算法,并对惯性/重力匹配水下自主导航技术的未来发展进行了展望。

关键词: 水下自主导航, 惯性/重力匹配导航, 重力匹配定位算法, 重力矢量匹配

Abstract: With the development of gravity measurement technology and underwater navigation theory, inertial-gravity matching navigation has become a research hotspot for underwater autonomous navigation system because of its high precision, full automation and long voyage characteristics. Inertial-gravity matching navigation system consists of four parts: inertial navigation system(INS), real-time gravity measurement, gravity background map and gravity matching algorithm. The real-time positions of underwater vehicles are obtained by gravity matching algorithm through analyzing the gravity outliers and the gravity background map, which is the core technology of the inertial-gravity matching navigation system. This paper introduces the development of gravity matching algorithm in details, emphatically analyzes the representative algorithms like ICCP, SITAN and vector matching algorithm and prospects the future developing direction of underwater autonomous inertial/gravity matching navigation.

Key words: autonomous underwater navigation, inertial-gravity matching navigation, gravity matching algorithm, gravity vector matching

中图分类号:

P223/U666.1

王博, 付梦印, 李晓平, 吴太旗, 邓志红. 水下重力匹配定位算法综述[J]. 导航与控制, 2020, 19(4/5): 170-178.

WANG Bo, FU Meng-yin, LI Xiao-ping, WU Tai-qi, DENG Zhi-hong. Review of Underwater Gravity Matching Positioning Algorithm[J]. Navigation and Control, 2020, 19(4/5): 170-178.

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水下重力匹配定位算法综述

Review of Underwater Gravity Matching Positioning Algorithm

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