海洋无人小型平台惯性/水声组合导航技术  

Inertial/underwater Acoustic Integrated Navigation Technology for Marine Unmanned Small Platform

作　　者：韩若曦 李海兵 郭子伟[1,2] 罗骋 HAN Ruo-xi;LI Hai-bing;GUO Zi-wei;LUO Cheng(Pilot National Laboratory for Marine Science and Technology,Qingdao 266237;Beijing Institute of Aerospace Control Devices,Beijing 100039)

机构地区：[1]青岛海洋科学与技术试点国家实验室,青岛266237 [2]北京航天控制仪器研究所,北京100039

出　　处：《导航与控制》2021年第6期1-14,共14页Navigation and Control

基　　金：国家自然科学基金(编号:41976182);航天科技集团自主研发项目(编号:天科研[2021]397);山东省重大科技创新工程专项(编号:2018SDKJ0201)。

摘　　要：近年来,海洋无人小型平台逐渐成为人类从事海洋研究与探索等活动不可或缺的工具。随着"海洋强国"战略的实施,水下平台的导航定位技术成为维护领海安全、发展海洋经济及执行水下一系列任务的重要保障。现阶段,水下无人小型平台导航定位方法多采用以惯性导航技术为主、水声定位及地球物理导航等技术为辅的组合导航方式。其中,惯性/水声组合导航是当前水下目标定位与跟踪的主要手段。基于此,首先给出惯性/水声组合导航系统的国内外应用现状,进而对水下导航定位关键技术的研究进展进行总结,最后对水下无人小型平台组合导航定位系统的应用需求和发展趋势进行分析。In recent years,marine unmanned small platforms have gradually become an indispensable tool for human activities such as marine research and exploration.With the implementation of the"maritime power"strategy,the navigation and positioning technology of underwater platform has become an important guarantee for maintaining territorial sea security,developing marine economy and performing a series of underwater tasks.At present,the navigation and positioning methods of these platforms mostly adopt the integrated navigation mode dominated by inertial navigation technology and supplemented by underwater acoustic positioning and geophysical navigation technology.The inertial/underwater acoustic integrated navigation is the main means of underwater target positioning and tracking.In this paper,the application status of inertial/underwater acoustic integrated navigation system at home and abroad is given firstly.Then,the research progress of underwater navigation and positioning key technologies is summarized.The application requirements and development trend of underwater unmanned small platform integrated navigation and positioning systems is analyzed finally.

关 键 词：海洋无人小型平台 惯性导航 水声导航 守时与授时 组合导航技术 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]