水下UUVs集群协同定位技术发展现状及趋势  

The research status and development trend of UUVs cooperative localization technology

作　　者：柴洪洲[1] 杜祯强 向民志 黄紫如 CHAI Hongzhou;DU Zhenqiang;Xiang Minzhi;Huang Ziru(Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450001,China;Key Laboratory of Ocean Geomatics,Ministry of Natural Resources,Qingdao 266590,China)

机构地区：[1]信息工程大学地理空间信息学院,河南郑州450001 [2]自然资源部海洋测绘重点实验室,山东青岛266590

出　　处：《测绘通报》2022年第10期62-67,92,共7页Bulletin of Surveying and Mapping

基　　金：国家自然科学基金(42074014);自然资源部海洋测绘重点实验室开放基金(2021B15)。

摘　　要：随着水下装备逐渐走向自主化、无人化、智能化,水下无人航行器(UUV)以集群的形式协同作业成为必然的发展方向。本文介绍了UUVs集群设备的发展现状及相关项目开展情况;系统梳理了UUVs集群协同定位技术在编队构型设计、观测量误差建模、模型与解算方法及水声通信技术方面取得的研究进展;重点讨论了UUVs集群协同定位技术的发展趋势,即协同编队构型设计的可视化、多源传感器误差建模的精细化、集群协同定位算法的智能化及定位结果质量控制的实时化;最后对UUVs集群协同定位技术的发展作出展望。With the growing autonomous,unmanned and intelligent of underwater equipment,it becomes an inevitable direction for unmanned underwater vehicles(UUVs)in the form of clusters.The research status of UUVs equipment and the implementation of related projects are firstly presented in this paper.Then the research progress of UUVs cooperative localization technology is systematically reviewed in configuration designing,observation error correcting,model and solution methods,and underwater acoustic communication.Besides,the development trend of UUVs cooperative localization technology is carefully analyzed,for example,the visualization of UUVs configuration design,the refinement of multi-source sensor error modeling,the intelligence of UUVs cooperative localization algorithm,and the real-time quality control of positioning results.At last,the future development of UUVs cooperative localization technology is prospected.

关 键 词：水下无人航行器 协同定位 关键技术 编队构型 误差改正 水声通信 

分 类 号：P237[天文地球—摄影测量与遥感]