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水下导航定位技术综述

张涛 夏茂栋 张佳宇 朱永云 童金武

张涛, 夏茂栋, 张佳宇, 朱永云, 童金武. 水下导航定位技术综述[J]. 全球定位系统, 2022, 47(4): 1-16. doi: 10.12265/j.gnss.2022094
引用本文: 张涛, 夏茂栋, 张佳宇, 朱永云, 童金武. 水下导航定位技术综述[J]. 全球定位系统, 2022, 47(4): 1-16. doi: 10.12265/j.gnss.2022094
ZHANG Tao, XIA Maodong, ZHANG Jiayu, ZHU Yongyun, TONG Jinwu. Review of underwater navigation and positioning technology[J]. GNSS World of China, 2022, 47(4): 1-16. doi: 10.12265/j.gnss.2022094
Citation: ZHANG Tao, XIA Maodong, ZHANG Jiayu, ZHU Yongyun, TONG Jinwu. Review of underwater navigation and positioning technology[J]. GNSS World of China, 2022, 47(4): 1-16. doi: 10.12265/j.gnss.2022094

水下导航定位技术综述

doi: 10.12265/j.gnss.2022094
基金项目: 国家自然科学基金 (52071080);中央高校基本科研业务费专项资金 (2242021K1G008,2242022K30017, 2242022K30018);东南大学微惯性仪表与先进导航技术教育部重点实验室(B类) 开放基金资助项目(SEU-MIAN-202002);南京工程学院引进人才科研启动基金项目(YKJ202043);江苏省研究生实践创新基金(SJCX21_0028)
详细信息
    作者简介:

    张涛:(1980—),男,教授,研究方向为惯性导航与AUV定位

    夏茂栋:(1993—),男,博士,研究方向为SINS/USBL组合导航和无人系统编队-包含控制

    张佳宇:(1994—),女,博士,研究方向为地形辅助惯性导航

    朱永云:(1991—),男,助理研究员,研究方向为惯性基组合导航、水下组合定位技术、农业装备作业状态实时监测及作业过程智能控制

    童金武:(1983—),男,讲师,研究方向为水下声学导航、多源组合导航、无人载体自主控制、服务机器人控制、高精度测量、人工智能与精准医学等领域研究

    通讯作者:

    张涛 E-mail: zhangtao22@seu.edu.cn

  • 中图分类号: P228.4

Review of underwater navigation and positioning technology

  • 摘要: 自主式水下航行器(AUV)作为海洋资源的开发与利用的主要载体,执行任务时需要准确的定位信息. 现有AUV主要采用捷联惯性导航系统(SINS)为主,声学导航和地球物理场匹配导航技术为辅的导航方式. 本文简述水下导航方式基本原理、优缺点和适用场景;探讨各类导航方式包含的关键技术,提高组合导航精度和稳定性. 通过分析现阶段存在问题,展望水下导航的未来发展趋势.

     

  • 图  1  DVL波束示意图

    图  2  SINS/DVL组合模型

    图  3  水声定位示意图

    图  4  SINS/USBL组合模型

    图  5  地球物理场辅助INS示意图

    表  1  DVL设备性能参数

    型号
    度/(mm·s−1)
    量程/m
    测速
    范围/(m·s−1)
    工作
    频率/kHz
    Pathfinder0.3%v±10300±15300
    0.2%v±10100±15600
    SeaPILOT0.7%v±2300±20300
    0.25%v±2130±20600
    NavQuest3000.4%v±2300±10300
    0.2%v±1140±10600
    下载: 导出CSV

    表  2  水声定位系统分类

    类型LBLSBLUSBL
    基线长度100~6000 m1~100 m<1 m
    特点基元空间
    分布广
    基元布放于
    载体各处
    集成声学单元
    优点定位精度高
    作用范围广
    精度较高体积小
    携带方便
    安装灵活
    缺点操作繁琐
    更新频率低
    基元固定
    易受船体噪声影响
    定位精度低
    作用范围小
    适用对象大范围内
    高精度定位
    母船附近的
    水下机器人
    小型潜航器
    下载: 导出CSV

    表  3  水声定位设备性能参数

    型号定位
    精度/mm
    定向
    精度/(°)
    量程/m开角/(°)
    GAPS
    M7
    0.06% D±200.034000160
    Gyro-USBL
    8084-457
    0.04% D±15/7000180
    TrackLink
    5000
    0.3% D±300.155000/
    HiPAP
    602
    0.15% D±200.047000180
    µPAP
    201
    0.45% D±200.254000160
    下载: 导出CSV

    表  4  海洋重力仪设备性能参数

    型号精度
    /mGal
    量程
    /Gal
    漂移
    /(mGal/月)
    倾角
    /(°)
    GT-2M0.210003.00±45
    SEA III0.75003.00±35
    Chekan-AM0.4500//
    SAG0.22 000/任意
    ZL11-1A0.3/4.42/
    下载: 导出CSV

    表  5  插值法优缺点分析

    插值
    算法
    原理优点缺点
    距离幂次反比法一定的幂次加权求和模型简单
    计算量小
    精度低
    样条
    插值法
    多项式拟合模型简单
    适用于变化缓慢的区域
    在重力场变化剧烈的区域效果差
    克里金法对空间结构和参数进行无偏估计精度高计算量大,在边缘区域精度差
    Shepard二次曲面
    拟合
    模型简单
    计算量小
    精度仅比距离幂次反比法高
    样条
    插值法
    多项式拟合模型简单适用于变化缓慢的区域在重力场变化剧烈的区域效果差
    下载: 导出CSV

    表  6  地形探测设备技术参数

    型号精度/cm深度/m效率/(km2·h−1)
    CZMIL30.0 8035.30~88.20
    Sea Survey MS 4001.51500.01~10.10
    Edge Tech 41252.32002.70
    UCSB19.0 70/
    下载: 导出CSV
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