摘要
随着对海洋的探索和开发不断深入,基于捷联惯性导航系统和多普勒计程仪相结合的水下组合导航技术,近年来在水下无人航行器导航定位得到了广泛应用.本文简要概述了捷联惯性导航系统/多普勒计程仪(SINS/DVL)组合导航系统的基本架构,列举了几种被广泛中应用于组合导航系统的信息融合技术.通过对组合导航技术梳理分析,总结出近期研究的3个热点问题,包括初始对准技术、标定技术、鲁棒性技术,以技术的更新和优化为依托,详细阐述了3项技术的发展历程.在总结归纳现有技术和研究成果的基础上,展望并分析SINS/DVL组合系统将来的研究方向及其面临的挑战.本文可为高精度水下导航技术研究提供有益参考.
With the deepening of the exploration and development of the ocean,the underwater integrated navigation technology based on the combination of strapdown inertial navigation system and Doppler has been widely used in recent years,especially in the navigation and position of UUAV(underwater unmanned aerial vehicles).The basic system architecture of SINS/DVL(strapdown inertial navigation system/doppler velocity log)is introduced in this paper,and several information fusion technologies widely used in the integrated navigation system are listed.Then three hotspot issues are summarized by analysing the integrated navigation technology,including alignment technology,calibration technology and robustness technology.Based on the renewal and optimization of the the integrated navigation technology,the development process of the three technologies is described in detail.Meanwhile,on the basis of summarizing the existing technology and research results,the future research direction and challenges of SINS/DVL are prospected and analyzed.This paper can provide useful reference for the research of high-precision underwater navigation technology.
作者
卢道华
宋世磊
王佳
蔡雅轩
沈慧慧
LU Dao-hua;SONG Shi-leiy;WANG Jia;CAI Ya-xuan;SHEN Hui-hui(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China;Marine Equipment Research Institute,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2022年第7期1159-1170,共12页
Control Theory & Applications
基金
国家重点研发计划项目(2018YFC0309103)资助。
关键词
惯性导航系统
初始对准
鲁棒性
误差标定
多普勒导航系统
inertial navigation system
initial alignment
robustness
error calibration
Doppler navigation systems
