水下定位精度优化的AUV航路规划方法  

Path planning of AUV for optimizing the accuracy of underwater acoustic localization

作　　者：井中武 张昊楠[4,5] 刘冰[6] 饶炜 阮福明 JING Zhongwu;ZHANG Haonan;LIU Bing;RAO Wei;RUAN Fuming(Acoustic Science and Technology Laboratory,Harbin Engineering University,Harbin 150001,China;Key Laboratory of Marine Information Acquisition and Security(Harbin Engineering University),Ministry of Industry and Information Technology,Harbin 150001,China;College of Underwater Acoustic Engineering,Harbin Engineering University,Harbin 150001,China;Geophysical Division,China Oilfield Services Co.,Ltd.,Tianjin 300459,China;National Engineering Research Center for Offshore Oil and Gas Exploration,Tianjin 300459,China;System Engineering Research Institute,China State Shipbuilding Corporation Limited,Beijing 100094,China)

机构地区：[1]哈尔滨工程大学水声技术全国重点实验室,黑龙江哈尔滨150001 [2]海洋信息获取与安全工业和信息化部重点实验室(哈尔滨工程大学)工业和信息化部,黑龙江哈尔滨150001 [3]哈尔滨工程大学水声工程学院,黑龙江哈尔滨150001 [4]中海油田服务股份有限公司物探事业部,天津300459 [5]海洋油气勘探国家工程研究中心,天津300459 [6]中国船舶集团有限公司系统工程研究院,北京100094

出　　处：《哈尔滨工程大学学报》2025年第1期111-118,共8页Journal of Harbin Engineering University

基　　金：中国海洋石油集团有限公司重大专项(E-23222T14);自然资源部海洋环境探测技术与应用重点实验室开放基金项目(MESTA-2021-A001);水声对抗技术重点实验室基金项目(JCKY2022207CH09);声呐技术重点实验室开放基金项目(6142109KF212203).

摘　　要：针对水声定位任务背景下,自主水下航行器的路径规划未充分考虑定位精度需求,导致定位精度较差的问题,本文提出了一种基于改进人工势场法的路径规划方法。通过建立视线力,使目标保持在声呐的视线范围内,并建立定位精度势场,以优化定位精度。该方法与传统的引力场和斥力场相结合,同时具备避障能力,实现了对于定位精度与自主避障能力的兼顾。湖试试验结果验证了所提方法的有效性。In the task of underwater acoustic localization,the autonomous underwater vehicle exhibits low localization precision because its path planning algorithm ignores the efficiency of UWAL.To address this problem,a new path planning method based on the improved artificial potential field is proposed in this study.We establish the sight force to keep the target in the sight coverage of the sonar and build the localization precision potential field to optimize localization precision.By integrating the conventional gravitation field and the repulsion field,this method achieves autonomous obstacle avoidance and improves localization precision.Lake trial results validate the effectiveness of the proposed method.

关 键 词：路径规划 自主水下航行器 水声定位 人工势场法 长基线定位 定位精度 时延差 声信标 

分 类 号：TB568[交通运输工程—水声工程]