水下导航定位技术综述

张涛; 夏茂栋; 张佳宇; 朱永云; 童金武

doi:10.12265/j.gnss.2022094

水下导航定位技术综述

doi: 10.12265/j.gnss.2022094

张涛^{1, 2, ,},
夏茂栋^{1, 2},
张佳宇^{1, 2},
朱永云³,
童金武⁴

1.
东南大学仪器科学与工程学院, 南京 210096
2.
微惯性仪表与先进导航技术教育部重点实验室, 南京 210096
3.
江苏大学农业工程学院, 江苏镇江 212013
4.
南京工程学院工业中心、创新创业学院, 南京 211167

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

通信作者:
张涛 E-mail: zhangtao22@seu.edu.cn

中图分类号: P228.4
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出版历程
- 收稿日期: 2022-05-25
- 录用日期: 2022-07-13
- 网络出版日期: 2022-08-08

Review of underwater navigation and positioning technology

ZHANG Tao^{1, 2
, ,},
XIA Maodong^{1, 2},
ZHANG Jiayu^{1, 2},
ZHU Yongyun³,
TONG Jinwu⁴

1.
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
2.
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China
3.
Key Laboratory of Modern Agricultural and Technology, Ministry of Education and Jiangsu Province, Jiangsu University, Zhenjiang 212013, China
4.
School of Innovation & Entrepreneurship, Industrial Center, Nanjing Institute of Technology, Nanjing 211167, China

摘要

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.
- 自主式水下航行器(AUV) /
- 捷联惯性导航系统(SINS) /
- 声学导航 /
- 地球物理场匹配 /
- 组合导航
Abstract: As the main carrier for the development and utilization of marine resources, autonomous underwater vehicles (AUV) need accurate positioning information when performing tasks. The main navigation mode of AUV is based on strap-down inertial navigation system (SINS), assisted by acoustic navigation and geophysical field matching. This paper introduces the basic principles, advantages and disadvantages and application scenarios of various underwater navigation modes. The key technologies of various navigation modes are researched to improve the precision and stability of integrated navigation. By analyzing the existing problems at present, the future development trend of underwater navigation is forecasted.
- autonomous underwater vehicle (AUV) /
- Strap-down Inertial Navigation System (SINS) /
- acoustic navigation /
- geophysical field matching /
- integrated navigation.

HTML全文

图 1 DVL波束示意图

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图 2 SINS/DVL组合模型

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图 3 水声定位示意图

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图 4 SINS/USBL组合模型

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图 5 地球物理场辅助INS示意图

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表 1 DVL设备性能参数

型号	精度/(mm·s⁻¹)	量程/m	测速范围/(m·s⁻¹)	工作频率/kHz
Pathfinder	0.3%v±10	300	±15	300
Pathfinder	0.2%v±10	100	±15	600
SeaPILOT	0.7%v±2	300	±20	300
SeaPILOT	0.25%v±2	130	±20	600
NavQuest300	0.4%v±2	300	±10	300
NavQuest300	0.2%v±1	140	±10	600

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表 2 水声定位系统分类

类型	LBL	SBL	USBL
基线长度	100~6000 m	1~100 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

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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±20	0.03	4000	160
Gyro-USBL 8084-457	0.04% D±15	/	7000	180
TrackLink 5000	0.3% D±30	0.15	5000	/
HiPAP 602	0.15% D±20	0.04	7000	180
µPAP 201	0.45% D±20	0.25	4000	160

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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-2M	0.2	1000	3.00	±45
SEA III	0.7	500	3.00	±35
Chekan-AM	0.4	500	/	/
SAG	0.2	2 000	/	任意
ZL11-1A	0.3	/	4.42	/

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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

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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)
CZMIL	30.0	80	35.30~88.20
Sea Survey MS 400	1.5	150	0.01~10.10
Edge Tech 4125	2.3	200	2.70
UCSB	19.0	70	/

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