| SINS/DVL水下组合导航技术发展综述 |
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| 引用本文： | 卢道华,宋世磊,王佳,蔡雅轩,沈慧慧. SINS/DVL水下组合导航技术发展综述[J]. 控制理论与应用, 2022, 39(7): 1159-1170 |
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| 作者姓名： | 卢道华 宋世磊 王佳 蔡雅轩 沈慧慧 |
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| 作者单位： | 江苏科技大学机械工程学院,江苏镇江212003;江苏科技大学海洋装备研究院,江苏镇江212003;江苏科技大学机械工程学院,江苏镇江212003 |
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| 基金项目： | 国家重点研发计划项目(2018YFC0309103)资助. |
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| 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.
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| 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 |
| 收稿时间： | 2021-03-18 |
| 修稿时间： | 2022-03-28 |
Review on the development of SINS/DVL underwater integrated navigation technology |
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| LU Dao-hu,SONG Shi-lei,WANG Ji,CAI Ya-xuan and SHEN Hui-hui. Review on the development of SINS/DVL underwater integrated navigation technology[J]. Control Theory & Applications, 2022, 39(7): 1159-1170 |
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| Authors: | LU Dao-hu SONG Shi-lei WANG Ji CAI Ya-xuan SHEN Hui-hui |
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| Affiliation: | School of mechanical engineering, Changshan campus, Jiangsu University of science and technology,School of mechanical engineering, Changshan campus, Jiangsu University of science and technology,School of mechanical engineering, Changshan campus, Jiangsu University of science and technology,School of mechanical engineering, Changshan campus, Jiangsu University of science and technology,School of mechanical engineering, Changshan campus, Jiangsu University of science and technology |
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| Abstract: | With the deepening of the exploration and development of the ocean, the underwater integrated navigationtechnology based on the combination of strapdown inertial navigation system and Doppler has been widely used in recentyears, especially in the navigation and position of UUAV (underwater unmanned aerial vehicles). The basic system architectureof SINS/DVL (strapdown inertial navigation system/doppler velocity log) is introduced in this paper, and severalinformation fusion technologies widely used in the integrated navigation system are listed. Then three hotspot issues aresummarized by analysing the integrated navigation technology, including alignment technology, calibration technology androbustness technology. Based on the renewal and optimization of the the integrated navigation technology, the developmentprocess of the three technologies is described in detail. Meanwhile, on the basis of summarizing the existing technologyand research results, the future research direction and challenges of SINS/DVL are prospected and analyzed. This papercan provide useful reference for the research of high-precision underwater navigation technology. |
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| Keywords: | inertial navigation system initial alignment robustness error calibration Doppler navigation systems |
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