多AUV协同导航问题的研究现状与进展

徐博; 白金磊; 郝燕玲; 高伟; 刘亚龙

doi:10.16383/j.aas.2015.c140047

多AUV协同导航问题的研究现状与进展

doi: 10.16383/j.aas.2015.c140047

1.
哈尔滨工程大学导航技术与设备研究所哈尔滨 150001

基金项目:

国家自然科学基金(61203225), 黑龙江省自然科学基金(QC2014C069), 高等学校博士学科点专项科研基金(20102304110021), 总装预研项目题目(51309040602), 中央高校基本科研业务费专项基金(HEUCF110427), 中国博士后科学基金(2012M510083)资助

详细信息

作者简介:
白金磊哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

通讯作者:
徐博哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com

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出版历程
- 收稿日期: 2014-03-03
- 修回日期: 2014-08-18
- 刊出日期: 2015-03-20

The Research Status and Progress of Cooperative Navigation for Multiple AUVs

1.
Navigation Technology and Equipment Research Institute, Harbin Engineering University, Harbin 150001

Funds:

Supported by National Natural Science Foundation of China (61203225), Natural Science Foundation of Heilongjiang Province (QC2014C069), Specialized Research Fund for the Doctoral Program of Higher Education (20102304110021), Assembly and Pre-research Project Title (51309040602), Fundamental Research Special Funds for the Central Universities (HEUCF110427), China Postdoctoral Science Foundation (2012M510083)

摘要

摘要: 自主水下航行器(Autonomous underwater vehicle, AUV)协同导航是未来50年解决水下中间层区域AUV导航定位的重要方法. 本文针对多AUV协同导航, 对该领域相关问题的研究进展进行了综述, 包括: 1)论述多AUV协同导航领域的研究现状, 包括协同导航问题界定、特点综述与讨论; 2)分析多AUV协同导航系统模型及相关算法的研究进展, 包括基于优化的、基于参数估计的和基于贝叶斯估计的滤波算法; 3)对协同导航网络下的误差建模与补偿方法的研究进展进行了综述, 包括未知洋流的影响、水声通信延迟补偿等; 4)从影响协同导航定位精度的角度出发, 对AUV协同导航的可观测性与编队最优构型设计的研究进展进行了一系列的分析; 5)陈述目前多AUV协同导航中存在的关键问题, 并讨论其发展趋势.
- 多AUV协同导航 /
- 水声通信延迟 /
- 信息融合算法 /
- 编队构型
Abstract: Cooperative navigation and localization of autonomous underwater vehicles (AUVs) is a significant approach for solving the navigation problem in middle depth zone of underwater condition in the next fifty years. The issue and research development of autonomous underwater vehicle cooperative navigation are reviewed in this paper. 1) The actual development state of multi-AUV cooperative navigation research is introduced including the problem definition, the characteristics analysis, discussion of cooperative navigation, etc. 2) Multi-AUV navigation models and the progress of algorithms are analyzed, including the method based on optimization, parameter estimation and Bayesian estimation filtering algorithm. 3) The development on error model and compensation method of cooperative navigation network, including the unknown currents impact and underwater acoustic communication delay compensation. 4) The research progress on formation design of AUV from the perspective of effect on cooperative navigation and position accuracy. 5) Key problems and development trend of multi-AUV cooperative navigation are described.
- Cooperative navigation of multi-AUVs (autonomous underwater vehicles) /
- acoustic communication delay /
- information fusion algorithm /
- formation configuration

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多AUV协同导航问题的研究现状与进展

doi: 10.16383/j.aas.2015.c140047

作者简介:
白金磊哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

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徐博哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com

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The Research Status and Progress of Cooperative Navigation for Multiple AUVs

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留言板

多AUV协同导航问题的研究现状与进展

doi: 10.16383/j.aas.2015.c140047

作者简介: 白金磊 哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

通讯作者: 徐博 哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com

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The Research Status and Progress of Cooperative Navigation for Multiple AUVs

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出版历程

目录

作者简介:
白金磊哈尔滨工程大学自动化学院硕士研究生.2014年获得哈尔滨工程大学自动化学院学士学位.主要研究方向为协同导航, 组合导航. E-mail: 15045621605@163.com

通讯作者:
徐博哈尔滨工程大学自动化学院讲师.2011年获得哈尔滨工程大学精密仪器及机械博士学位.主要研究方向为传递对准, 组合导航, 协同导航.本文通信作者.E-mail: xubocarter@sina.com