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自主水下航行器的组合导航系统综述
郭银景,孔芳,张曼琳,吕文红,吕振义
0
(山东科技大学电子信息工程学院,青岛 266590;青岛智海牧洋科技有限公司,青岛 266590;山东科技大学交通学院,青岛 266590;深圳科卫泰实业发展有限公司,深圳 518000)
摘要:
由于GPS和无线电信号在水下严重衰减,因此以惯性导航为核心,加以其他辅助导航设备的组合导航系统正适用于自主水下航行器的使用环境。回顾了近年自主水下航行器组合导航的最新进展,为将自主水下航行器应用于军用和民用等领域的研究学者提供了参考。首先,总结了国内外近十年来自主水下航行器组合导航方法,如INS/APS组合导航、INS/GPS组合导航、INS/DVL组合导航、INS/地球物理组合导航和INS/SLAM组合导航;介绍了各种自主水下航行器组合导航系统的基本原理和关键技术问题的解决方案;总结对比了其优缺点和发展趋势;最后给出了未来自主水下无人航行器组合导航面临的挑战。
关键词:  自主水下无人航行器  水下导航  惯性导航系统  组合导航系统
DOI:
基金项目:国家自然科学基金 (61471224);山东省重点研发计划(公益类专项)项目(2018GHY115022)
Review of Integrated Navigation System for AUV
GUO Yin-jing,KONG Fang,ZHANG Man-lin,LYU Wen-hong,LYU Zhen-yi
(School of Electronic Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China;Qingdao Zhihai Muyang Technology Co., Ltd., Qingdao 266590, China;School of Communications, Shandong University of Science and Technology, Qingdao 266590, China;Shenzhen Keweitai Industrial Development Co., Ltd., Shenzhen 518000, China)
Abstract:
Because of the strong attenuation of GPS and radio signals in seawater, the integrated navigation system based on inertial navigation is suitable for the use environment of autonomous underwater vehicle. The latest progress of integrated navigation of autonomous underwater vehicles is reviewed and investigated,which provides a comprehensive reference for researchers who intend to apply autonomous underwater vehicles to the military or civil field. Firstly, aiming at the integrated navigation technology for autonomous underwater vehicle (AUV),this paper summarizes the integrated navigation methods of AUV at home and abroad in recent decade,such as INS/APS integrated navigation,INS/GPS integrated navigation, INS/DVL integrated navigation,INS/Geophysics integrated navigation and INS/SLAM integrated navigation. Then the basic principles,key problems and solutions of integrated navigation for various AUVs are described with the summary and comparison of their advantages, disadvantages and development trend; Finally, the challenges that the future civil AUV integrated navigation is going to face have been put forward.
Key words:  AUV  Underwater navigation  Inertial navigation system  Integrated navigation system

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