海上无人系统跨域集群发展现状及其关键技术

闫敬; 关新平

doi:10.16383/j.aas.c240334

海上无人系统跨域集群发展现状及其关键技术

doi: 10.16383/j.aas.c240334

闫敬^1,,
关新平^{2, 3,}

1.
燕山大学电气工程学院秦皇岛 066004
2.
上海交通大学电子信息与电气工程学院上海 200240
3.
海底科学与划界全国重点实验室上海 201913

基金项目: 国家自然科学基金(62222314), 河北省自然科学基金(F2024203047, F2022203001, F2024203072), 中央引导地方基金(226Z3201G)

详细信息

作者简介:
闫敬：燕山大学电气工程学院教授. 主要研究方向为水声传感网络，水下机器人协同控制. 本文通信作者. E-mail: jyan@ysu.edu.cn

关新平：上海交通大学电子信息与电气工程学院教授. 主要研究方向为工业信息物理系统，无线组网及应用，水下传感器网络. E-mail: xpguan@sjtu.edu.cn

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出版历程
- 收稿日期: 2024-06-11
- 录用日期: 2024-08-27
- 网络出版日期: 2024-09-10

Development Status and Key Techniques for Cross-domain Swarm of Maritime Unmanned Systems

YAN Jing^1
,,
GUAN Xin-Ping^{2, 3
,}

1.
School of Electrical Engineering, Yanshan Univerdsity, Qinhuangdao 066004
2.
School of Electronic information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240
3.
National Key Laboratory of Underwater Science and Delimitation, Shanghai 201913

Funds: Supported by National Natural Science Foundation of China (62222314), National Science Foundation of Hebei Province (F2024203047, F2022203001 and F2024203072), and Central Guidance Local Foundation (226Z3201G)

More Information

Author Bio:
YAN Jing　Professor at the institute of electrical engineering, Yanshan University. His research interests cover in underwater acoustic sensor networks, and the cooperation control of underwater vehicle. Corresponding author of this paper

GUAN Xin-Ping　Professor at the school of electronic information and electrical engineering, Shanghai Jiaotong University. His research interests cover in industrial cyber-physical systems, wireless networking and applications, and underwater sensor networks

摘要

摘要: 随着无人系统技术的快速发展, 海上无人系统跨域集群凭借其诸多优点已成为当前无人系统领域研究热点. 具体来说, 海上无人系统跨域集群是指空中、水面、水下无人平台, 通过跨域任务规划与信息交互实现高效集群协作, 对提升海洋复杂环境下无人平台应对能力至关重要. 目前, 海上无人系统跨域集群理论体系还不完善, 相关研究正面临诸多亟待解决的难题. 为此, 本文首先梳理了跨域集群相关概念及其发展现状, 分析了其面临的挑战与关键问题; 进而, 从控制理论和通信技术相结合角度出发, 简述了跨域集群任务规划、组网传输、协同控制等关键技术的研究进展; 最后, 结合实际发展情况和未来发展趋势, 对海上无人系统跨域集群未来值得深入研究的研究方向进行了总结与展望.
- 集群 /
- 海上无人系统 /
- 跨域 /
- 协同控制 /
- 组网传输
Abstract: With the rapid development of unmanned system technology, the cross-domain swarm of maritime unmanned systems has become a hot research topic in the field of unmanned systems due to its many advantages. Specifically, the cross-domain swarm of maritime unmanned systems refers to the efficient swarm collaboration of air, water surface and underwater platforms, by means of the cross-domain task planning and information exchange. It is of great significance to enhance the response capability of unmanned platforms in complex marine environments. At present, the theoretical framework of cross-domain swarm for maritime unmanned systems is not mature. The relevant research is facing many urgent problems to be solved. For that reason, this paper firstly outlines the concepts and development status of cross-domain swarm, through which the challenges and key issues are analyzed. From the perspective of combining control theory and communication technology, we briefly describe the research progress of key technologies, such as the task planning, network transmission, and collaborative control in cross-domain swarm. Finally, based on the actual development situation and future trends, we summarize and look forward to the future research directions worthy of in-depth study on cross-domain swarm of maritime unmanned systems.
- Swarm /
- maritime unmanned systems /
- cross-domain /
- collaboration control /
- networking transmission

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图 1 面向水下移动目标围捕任务的跨域集群系统

Fig. 1 Cross-domain swarm system for the encirclement of underwater mobile target

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图 2 美国国防部无人系统发展路线图封面

Fig. 2 Covers of the unmanned systems development roadmap for US department of defense

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图 3 关键技术的内部关系

Fig. 3 Internal relationship for the key technologies

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图 4 水面艇与潜器联合探测网络

Fig. 4 Joint detection network of USV and AUV

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图 5 无中继的跨介质通信示意图

Fig. 5 Schematic diagram of the cross-domain communication without the relay nodes

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图 6 基于磁感线通信的跨介质数据传输

Fig. 6 Cross-domain data transmission based on the magnetic induction line communication

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图 7 基于6G技术的“空天地海“一体化跨域中继传输网络

Fig. 7 Air-space-ground-sea integration cross-domain relay transmission network based on 6G technology

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图 8 无人机-水面艇-潜器(AUV)间时钟同步

Fig. 8 Clock synchronization among UAV, USV and AUV

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图 9 信噪比测量下的信道估计算法流程

Fig. 9 Channel estimation algorithm flow under signal-to-noise ratio (SNR) measurements

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图 10 集中式编队结构

Fig. 10 Centralized formation structure

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图 11 分布式编队结构

Fig. 11 Distributed formation structure

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图 12 AUV间链式编队结构

Fig. 12 Structure of the platoon formation for AUVs

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图 13 跨域集群任务场景

Fig. 13 Task scenarios for the cross-domain swarm

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表 1 跨域集群相关的综述论文对比

Table 1 Comparison of the survey papers related to the cross-domain swarm

参考文献	题目	研究出发层面	主要内容	存在不足
文献[2]	水下无人系统发展现状及其关键技术	海洋装备	分析了集群化的概念, 简述了国内外水下无人装备发展现状, 指出需突破的技术	主要偏重于水下单域集群落脚于于海洋装备领域
文献[3]	海上无人系统发展及及关键技术研究	海洋装备	从战略规划、装备研发和系统演示等层面分析现状, 凝练挑战与需攻克技术	偏重于战略规划, 并没有对具体技术进行分析归纳
文献[4]	无人直升机空海潜跨域协同作战体系构建与应用	海洋装备	对无人机空海潜协同作战体系进行综述, 分析了多种无人海洋装备互联互通技术	偏重跨域体系建立与应用介绍, 并没有对其耦合关系进行剖析
文献[5]	Survey of air, sea, and road vehicles research formotion control security	感知	从安全角度对空天地机器人态势感知进行了综述	偏重于单体态势感知, 未对跨域集群展开讨论
文献[6]	水下无人系统集群感知与协同技术进展	感知	从感知与协同层面, 对水下感知与协同技术进行综述, 并指出集群面临的难点	偏重单域内无人系统的集群, 并没有对跨域集群进行综述
文献[7]	A survey on space-air-ground-sea integrated network security in 6G	通信	从安全角度对空天地海通信进行综述, 并讨论了跨层攻击	偏重空天地跨域通信研究, 并未对跨域集群展开论述
文献[8]	水声通信及网络技术进展	通信	从水声通信路由与跨层设计等进展进行综述, 对未来水声通信技术进行展望	偏重单域内无人系统的通信, 未对跨域感知与控制进行综述
文献[9]	水域无人系统平台自主航行及协同控制研究进展	控制	综述了水域无人平台航行与控制进展, 分析了其面临的机遇与挑战	缺少对跨域集群组网综述, 并没有集群过程中关系进行剖析
文献[10]	Review of hybrid aerial underwater vehicle: Cross-domain mobility and transitions control	控制	综述了跨域混合动力飞行器研究进展, 分析了水动力对控制影响	主要对单个装备跨域机理分析, 并没有对跨域集群进行综述
文献[11]	天空地一体化网络环境下多运动体系统跨域协同控制与智能决策	控制	综述了天地空跨域决策与控制, 阐述了云控制在其中的作用	主要考虑陆地环境中跨域, 并没有将水下环境加入跨域体系

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