海流环境下AUV航行偏移影响研究  

Research on Influence of AUV Deviation in Ocean Current Environment

作　　者：王郁茗 李博[1] 周义勇 冷相文[1] Wang Yuming;Li Bo;Zhou Yiyong;Leng Xiangwen(Department of Underwater Weapon and Chemical Defense,Dalian Naval Academy,Dalian 116018,China)

机构地区：[1]海军大连舰艇学院水武与防化系,辽宁大连116018

出　　处：《兵工自动化》2022年第10期88-91,共4页Ordnance Industry Automation

基　　金：海军大连舰艇学院科研发展基金(DJYKYKT2021-051)。

摘　　要：针对不同海流环境会对自主式水下无人航行器(autonomous underwater vehicle,AUV)航行船位产生不同程度偏移的问题,构建一种海流环境下AUV运动模型,并基于海流区内AUV航行船位距离偏移及船位方位偏移评价指标,分析海流环境对AUV航行偏移的影响规律。结果表明:当海流流向或流速达到一定量值时,对AUV航行船位的距离和方位偏移影响陡然增加;相比海流流向,海流流速对AUV船位偏移影响更为直接;不同方向及大小的海流在一定情况下会对AUV航行船位偏移产生一致的影响;通过设置AUV船位偏移阈值,可为AUV航路规划提供辅助决策,避开存在相应海流阈值的海域,从而提高AUV对武器、装备及物资的远距离精准投送能力。To Solve the problem that the ship position of an autonomous underwater vehicle(AUV)will shift in different degrees in different ocean current environments,a model of AUV motion in ocean current environment is established,and based on the evaluation index of ship position distance shift and ship position azimuth shift in o cean current area,the model of AUV motion in current environment is established.The influence of ocean current environment on AUV sailing deviation is analyzed.The results show that when the current direction or velocity reaches a certain value,the influence on the distance and azimuth deviation of AUV navigation increases sharply.Compared with the current direction,the current velocity has a more direct influence on the position deviation of AUV navigation;different directions and sizes of currents will have a consistent influence on the position deviation of AUVs navigation under certain circumstances;By setting the threshold of AUV position shift,it can provide auxiliary decision-making for AUV route planning,avoid the sea area with the corresponding current threshold,and improve the ability of AUV to deliver weapons,equipment and materials remotely and accurately.

关 键 词：自主式水下无人航行器 海流环境 航行船位距离偏移 航行船位方位偏移 

分 类 号：TJ83[兵器科学与技术—武器系统与运用工程]