SINS/DVL水下组合导航技术发展综述

Review on the development of SINS/DVL underwater integrated navigation technology

中文关键词  惯性导航系统  初始对准  鲁棒性  误差标定  多普勒导航系统

英文关键词  inertial navigation system  initial alignment  robustness  error calibration  Doppler navigation systems

中文摘要

      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.

英文摘要

      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.