哈尔滨工程大学学报2023，Vol.44Issue(11)：1927-1936,10.DOI:10.11990/jheu.202306025
水下地形匹配导航现状及发展趋势
Current progress and development trend of underwater terrain-matching navigation
摘要
Abstract
To explore underwater terrain-matching navigation technology,this study systematically summarizes the current research progress of this technology according to the latest research results.The global seabed terrain model that integrates measured water depth and inversion water depth has been established,and the terrain matching algo-rithm system applicable to different situations has been formed.Besides,the terrain feature set and adaptation rela-tionship have been established,the strategy satisfying intermittent and continuous terrain matching and the robust model with integrated inertial navigation information have been constructed,and the matching navigation system has been developed and successfully applied,comprehensively promoting the progress of long-term and high-precision underwater navigation technology.Moreover,the existing problems in this technology are analyzed.The future de-velopment directions of this technology include the construction of the high-precision and high-resolution global ba-thymetric model,the processing of bathymetric data,the robust matching navigation algorithm,and the research and development of a practical system.关键词
声呐测深/海底地形反演/海底地形背景场/在航测深数据处理/匹配算法/匹配策略/适配性分析/航路规划/匹配导航系统Key words
sonar sounding/seabed topography inversion/seabed terrain background field/data processing in un-derway depth survey/matching algorithm/matching strategy/adaptation analysis/route planning/seabed terrain-matching navigation system分类
天文与地球科学引用本文复制引用
赵曦,赵建虎..水下地形匹配导航现状及发展趋势[J].哈尔滨工程大学学报,2023,44(11):1927-1936,10.基金项目
青岛海洋科学与技术试点国家实验室"问海计划"(2021WHZZB1002) （2021WHZZB1002）
国家重点研发计划(2022YFC2808303). （2022YFC2808303）
