水下惯性/重力梯度匹配导航综述  

Review of underwater inertial/gravity gradient matching navigation

作　　者：王博[1] 李天姣 李晓平 Wang Bo;Li Tianjiao;Li Xiaoping(Engineering Research Center of Navigation,Guidance and Control Technology,Ministry of Education,School of Automation,Beijing Institute of Technology,Beijing 100081,China;The 707 Research Institute of CSSC,Tianjin 300131,China)

机构地区：[1]北京理工大学自动化学院导航制导与控制技术教育部工程研究中心,北京100081 [2]中国船舶集团有限公司第七〇七研究所,天津300131

出　　处：《战术导弹技术》2023年第4期1-12,I0004,共13页Tactical Missile Technology

基　　金：国家自然科学基金(61673060)。

摘　　要：水下惯性/重力梯度匹配导航是提高自主水下潜航器导航精度的重要手段。为深入了解水下惯性/重力梯度匹配导航技术的发展现状,综述了重力梯度仪等技术的研究进展,详细分析了惯性/重力梯度匹配导航的基准图构建、适配区选取、匹配算法以及综合校正等关键技术的难点与研究现状,总结了此领域的研究重点。预测了惯性/重力梯度匹配导航技术的发展趋势,指明了技术的耦合性、智能化及实用性是水下惯性/重力梯度匹配导航的重要研究思路,为水下自主导航技术的发展提供参考。The undersea inertial/gravity gradient matching navigation is an important method to improve the navigation accuracy of autonomous underwater vehicles.In order to understand the development status of undersea inertial/gravity gradient matching navigation technology,a review is conducted on the research progress of gravity gradiometer and other technologies.The difficulties and current status of relevant key technologies are analyzed in detail,such as reference map construction,suitable matching area selection,matching algorithm and comprehensive calibration of inertial/gravity gradient matching navigation.And the research focus in this field is also summarized.Moreover,the development trend of inertial/gravity gradient matching navigation technology is predicted.Finally,it is pointed out that the coupling,intelligence and practicability of technologies are important research ideas for underwater inertial/gravity gradient matching navigation,which provides reference for the long-term development of underwater autonomous navigation.

关 键 词：惯性/重力梯度匹配 自主水下潜航器 重力梯度基准图 适配区选取 匹配算法 综合校正 

分 类 号：U666.1[交通运输工程—船舶及航道工程]