水下滑翔机技术发展现状与展望  

Development of Underwater Gliders:An Overview and Prospect

作　　者：沈新蕊 王延辉[1,2] 杨绍琼 梁岩[1,2] 李昊璋 SHEN Xin-rui;WANG Yan-hui;YANG Shao-qiong;LIANG Yan;LI Hao-zhang(School of Mechanical Engineering, Tianjin University, Tianjin 300350, China;The Joint Laboratory of Ocean Observing and Detection, Qingdao National Laboratory for Marine Science and Technology, Qingdao 266237, China)

机构地区：[1]天津大学机械工程学院,天津300350 [2]青岛海洋科学与技术国家实验室海洋观测与探测联合实验室,山东青岛266237

出　　处：《水下无人系统学报》2018年第2期89-106,共18页Journal of Unmanned Undersea Systems

基　　金：国家重点研发计划(2016YFC0301100;2017YFC0305902);国家自然科学基金优秀青年科学基金(51722508);面上项目(51475319);山东省重点研发计划(2016CYJS02A02);青岛海洋科学与技术国家实验室问海计划(ZR2016WH03);主任基金(QNLM201705);"鳌山人才"培养计划(2017ASTCP-OS05;2017ASTCP-OE01)等项目资助

摘　　要：水下滑翔机依靠调节浮力实现升沉,借助水动力实现水中滑翔,是一种特殊的无人水下航行器,可对复杂海洋环境进行长时续、大范围的观测与探测,在全球海洋观测与探测系统中发挥着重要作用。文中综述了国内外水下滑翔机技术的发展现状,重点介绍了水下滑翔机单机平台及其核心技术的研究进展,并对支撑水下滑翔机动力学与控制领域的研究进行了归纳。此外,依据国内外具有代表性的成果,对水下滑翔机协作组网观测技术进行了概述,并详细介绍了水下滑翔机小型低耗传感器设计与集成技术的发展应用,阐述了水下滑翔机数据格式与协议领域的发展现状。最后,从水下滑翔机功耗优化,通信及智能化水平的提升等领域,对水下滑翔机技术未来的发展趋势进行了展望。As a kind of special autonomous undersea vehicle, the underwater glider（UG） dives along a saw-tooth trajectory by adjusting the buoyancy and maintains its gliding mode by making use of hydrodynamic force. It can realize continuous observation and detection in long range and large scale in the complex ocean environment. Therefore, UG plays an increasingly important role in the novel global ocean observation and detection systems. In this paper, the recent development status of underwater glider technology both at home and abroad is reviewed with emphases on the research progress of the single UG platforms and the corresponding core techniques. And the studies on UG＇s dynamics and control are summarized. Moreover, according to the representative research achievements in the world, this paper gives an overview of the UG-networked observation technology, and elaborates the design, development and application of the compact low-power sensor used in UGs, as well as the development in data format and protocol of UG. In addition, development prospect of UG technology is presented concerning promotion of power consumption optimization, communication and intelligent level of UGs.

关 键 词：水下滑翔机 组网观测技术 传感器设计 数据格式与协议 智能感知 

分 类 号：TJ630[兵器科学与技术—武器系统与运用工程] TP242[自动化与计算机技术—检测技术与自动化装置]