水下地形匹配导航现状及发展趋势  

Current progress and development trend of underwater terrain-matching navigation

作　　者：赵曦 赵建虎[1,2] ZHAO Xi;ZHAO Jianhu(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;Institute of Marine Science and Technology,Wu-han University,Wuhan 430079,China)

机构地区：[1]武汉大学测绘学院,湖北武汉430079 [2]武汉大学海洋研究院,湖北武汉430079

出　　处：《哈尔滨工程大学学报》2023年第11期1927-1936,共10页Journal of Harbin Engineering University

基　　金：青岛海洋科学与技术试点国家实验室“问海计划”(2021WHZZB1002);国家重点研发计划(2022YFC2808303).

摘　　要：为了深入研究水下地形匹配导航技术,本文依据国内外最新研究成果,系统地总结了该技术的研究进展,认为已建立了融合实测和反演水深的全球海底地形模型,形成了适用于不同情况的地形匹配算法体系,建立了地形特征集与适配性关系,构建了满足间歇/连续地形匹配的策略及与惯性导航系统信息融合的抗差模型,发展了匹配导航系统,综合促进了水下地形匹配导航技术的进步。分析了当前研究存在的问题,并指出高精度高分辨率全球水深模型构建、在航测深数据处理、稳健匹配导航算法和系统研发是该技术未来的发展方向。To explore underwater terrain-matching navigation technology,this study systematically summarizes the current research progress of this technology according to the latest research results.The global seabed terrain model that integrates measured water depth and inversion water depth has been established,and the terrain matching algo-rithm system applicable to different situations has been formed.Besides,the terrain feature set and adaptation rela-tionship have been established,the strategy satisfying intermittent and continuous terrain matching and the robust model with integrated inertial navigation information have been constructed,and the matching navigation system has been developed and successfully applied,comprehensively promoting the progress of long-term and high-precision underwater navigation technology.Moreover,the existing problems in this technology are analyzed.The future de-velopment directions of this technology include the construction of the high-precision and high-resolution global ba-thymetric model,the processing of bathymetric data,the robust matching navigation algorithm,and the research and development of a practical system.

关 键 词：声呐测深 海底地形反演 海底地形背景场 在航测深数据处理 匹配算法 匹配策略 适配性分析 航路规划 匹配导航系统 

分 类 号：P229[天文地球—大地测量学与测量工程]