多无人水下航行器协同导航定位研究进展  

Advances in cooperative navigation and localization for multi-UUV systems

作　　者：张立川[1,2] 许少峰[1] 刘明雍[1,2] 徐德民[1,2] 

机构地区：[1]西北工业大学航海学院,西安710072 [2]水下信息与控制国防科技重点实验室,西安710072

出　　处：《高技术通讯》2016年第5期475-482,共8页Chinese High Technology Letters

基　　金：国家自然科学基金(51109179;51179156);中央高校基本科研业务专项(3102014KYJD010)资助项目

摘　　要：介绍了多无人水下航行器(UUV)协同导航定位的原理,进而详细综述了国内外多UUV协作系统及多UUV协同导航定位系统的研究进展,重点研究和分析了水声测距及通信一体化、协同导航定位算法、协同导航定位观测、水下UUV组网等关键技术的研究特点和发展趋势。研究表明,随着海洋研究的不断深入,多UUV协同导航定位系统的发展将会更注重减小体积质量、适应复杂海洋环境和能源限制方面的研究。The principle of multi-UUS （ unmanned underwater vehicle） cooperative navigation and localization is briefly introduced. Then, the developments of muhi-UUV cooperative navigation and localization systems and the relevant studies in theory and practice are reviewed in detail, and the key techniques of integrating underwater ranging and communication, algorithm for cooperative navigation and localization, UUV networking, etc. , are emphatically investigated and analyzed. The study concludes that the research on multi-UUV cooperative navigation and localization tends to optimize the volume and mass of UUVs to meet complex marine environments and energy limitations.

关 键 词：无人水下航行器(UUV) 多UUV 协同导航 水下导航 

分 类 号：TN966[电子电信—信号与信息处理]