移动通信2024，Vol.48Issue(11)：14-19,6.DOI:10.3969/j.issn.1006-1010.20240925-0003
海洋自主水下航行器导航控制与关键技术分析
Navigation Control and Key Technology Analysis for Autonomous Underwater Vehicles in Marine Environments
摘要
Abstract
Unlike traditional marine vessels such as surface ships and submarines,autonomous underwater vehicles(AUVs)are highly intelligent,unmanned systems equipped with precise underwater navigation technology that enable deep diving,long-distance operation,and all-weather underwater tasks.AUVs are underactuated systems with six degrees of freedom,characterized by high nonlinearity,parameter perturbations,multi-objective control,and control limitations,which make underwater navigation control highly challenging.The mathematical model of an AUV consists of both the dynamic equation and the kinematic equation.Based on the North-East-Down and body-fixed coordinate systems,this paper examines the primary navigation control technologies for AUVs and analyzes the fundamental architecture of their underwater navigation control systems,while exploring key technologies in underwater navigation control.The paper provides a detailed analysis of major underwater navigation methods to offer a technical implementation framework for AUV underwater navigation.Finally,the paper summarizes current advancements in navigation technology and outlines future research directions.关键词
海洋自主水下航行器/水下导航控制/六自由度/运动学方程/动力学方程/导航算法Key words
marine autonomous underwater vehicle/underwater navigation control分类
电子信息工程引用本文复制引用
谭拂晓,吴华锋..海洋自主水下航行器导航控制与关键技术分析[J].移动通信,2024,48(11):14-19,6.基金项目
国家自然科学基金重点项目"极地态势感知集群系统最优动态部署理论与关键技术"(52331012) （52331012）
国家自然科学基金项目"基于稀疏化核学习的智能网络分布式估计与动态优化研究"(61673117) （61673117）
上海市科学技术委员会项目"基于深度强化学习的海洋智能集群传感网分布式估计与优化关键技术研究"(23010502000) （23010502000）
