水下地形辅助导航算法综述  

Review of underwater terrain-aided navigation algorithm

作　　者：兰天 李鼎 娄琪欣 刘超 李慧平 于旭东 LAN Tian;LI Ding;LOU Qixin;LIU Chao;LI Huiping;YU Xudong(College of Advanced Interdisciplinary Studies,National University of Defense Technology,Changsha 410073,China;Nanhu Laser Laboratory,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学前沿交叉学科学院,长沙410073 [2]国防科技大学南湖之光实验室,长沙410073

出　　处：《导航定位与授时》2025年第1期14-28,共15页Navigation Positioning and Timing

基　　金：国家自然科学基金面上项目(62173335)。

摘　　要：地形辅助导航是一种利用地形特征辅助惯性导航的自主导航方法。与其他传统导航方法相比,地形辅助导航可以更好地满足水下航行器高精度、长航时及高自主性的导航需求,因而成为了水下导航定位领域的重要研究方向。围绕水下地形辅助导航算法,介绍了其基本原理和分类方法,并对基于相关性匹配的算法、基于滤波的算法和基于同时定位与构图(SLAM)的算法这3类地形辅助算法的原理及其发展现状进行了综述,其中详细介绍了粒子滤波算法的研究进展。此外,还对比分析了各类算法的局限性、初始定位误差敏感程度、实时性、稳定性和计算量。最后,对地形辅助导航的未来发展趋势进行了展望。Terrain-aided navigation is an autonomous navigation method that uses terrain features to assist inertial navigation.Compared with other traditional navigation methods,terrain-aided navigation can better meet the navigation requirements of high precision,long endurance and high autonomy for underwater vehicles,making it an important research direction in underwater navigation and positioning.Focusing on the algorithms of underwater terrain-aided navigation technology,the basic principles and classification methods are introduced.Then,three types of terrain-aided algorithms are reviewed,which are correlation-based matching algorithms,filter-based algorithms,and the algorithms based on simultaneous localization and mapping(SLAM)algorithms,focusing on their principles and current development status.The research progress of the particle filter algorithm is presented in detail.In addition,the limitations of the algorithms,sensitivity to initial position error,real-time performance,stability and computational complexity of the different algorithms are compared and analyzed.Finally,the future development trends of terrain-aided navigation are prospected.

关 键 词：地形辅助导航 水下导航 地形匹配 粒子滤波 综述 

分 类 号：U674.941[交通运输工程—船舶及航道工程] V279[交通运输工程—船舶与海洋工程]