【摘要】 自主水下航行器(AUV)是海洋观测与探测的重要技术装备。当前AUV水下导航技术面临实时性差、信息源少、干扰多等瓶颈问题,成为世界发达国家海洋科学技术的前沿研究领域。对AUV前沿导航技术发展现状进行了系统总结,重点分析了水下导航的研究热点并提出主流导航系统及关键技术。在此基础上,从无辅助的单一惯性导航、组合导航及协同导航3个维度总结各自导航方式的技术特点,并分析了AUV导航技术的发展趋势。更多还原

【Abstract】 Autonomous underwater vehicle(AUV) is an important technical equipment for ocean exploration and surveying. Faced with poor real-time performance, less information sources and high complexity, its navigation has become a frontier research field of marine science and technology in developed countries. The paper systematically summarized the development status of AUV frontier navigation technique, emphasized the research hotspots of underwater navigation, proposed the key technologies of mainstream navigation. Finally, according to the analysis, the technical characteristics of the respective navigation methods were summarized from the three dimensions of no-aided inertial navigation, integrated navigation and cooperative navigation, and then the development trend of AUV navigation technology was analyzed.更多还原