• 中国科技核心期刊
  • JST收录期刊
  • Scopus收录期刊
  • DOAJ收录期刊

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

水下SINS/DVL组合导航技术综述

赵俊波 葛锡云 冯雪磊 周宏坤

赵俊波, 葛锡云, 冯雪磊, 周宏坤. 水下SINS/DVL组合导航技术综述[J]. 水下无人系统学报, 2018, 26(1): 002-9. doi: 10.11993/j.issn.2096-3920.2018.01.001
引用本文: 赵俊波, 葛锡云, 冯雪磊, 周宏坤. 水下SINS/DVL组合导航技术综述[J]. 水下无人系统学报, 2018, 26(1): 002-9. doi: 10.11993/j.issn.2096-3920.2018.01.001
ZHAO Jun-bo, GE Xi-yun, FENG Xue-lei, ZHOU Hong-kun. A Review of Underwater SINS/DVL Integrated Navigation Technology[J]. Journal of Unmanned Undersea Systems, 2018, 26(1): 002-9. doi: 10.11993/j.issn.2096-3920.2018.01.001
Citation: ZHAO Jun-bo, GE Xi-yun, FENG Xue-lei, ZHOU Hong-kun. A Review of Underwater SINS/DVL Integrated Navigation Technology[J]. Journal of Unmanned Undersea Systems, 2018, 26(1): 002-9. doi: 10.11993/j.issn.2096-3920.2018.01.001

水下SINS/DVL组合导航技术综述

doi: 10.11993/j.issn.2096-3920.2018.01.001
详细信息
    作者简介:

    赵俊波(1990-), 男, 硕士, 主要研究方向为水下组合导航技术.

  • 中图分类号: TJ630.2; U666; TN967.7

A Review of Underwater SINS/DVL Integrated Navigation Technology

  • 摘要: 基于捷联惯性导航系统(SINS)与多普勒计程仪(DVL)相结合的组合导航技术近年来在自主水下航行器(AUV)导航上得到了广泛应用。文中简要介绍了水下SINS/DVL组合导航的基本原理、耦合方式和系统应用研究现状; 详细论述了数据融合处理技术、标定技术和DVL数据失效处理技术等3个关键技术及其研究现状; 最后, 探讨了水下SINS/DVL组合导航技术的发展趋势及其将要面临的技术问题。文中的研究可为水下高精度组合导航研究提供参考。

     

  • [1]  [1] 尹伟伟, 郭士荦. 非卫星水下导航定位技术综述[J]. 舰船电子工程, 2017, 37(3): 8-11.

    Yin Wei-wei, Guo Shi-luo. Survey on Non-satellite Underwater Navigation and Positioning Technology[J]. Ship Electronic Engineering, 2017, 37(3): 8-11.
    [2] Leonard J J, Bahr A. Autonomous Underwater Vehicle Navigation[M]. Springer: Handbook of Ocean Engineer-ing, 2016.
    [3] Kinsey J C, Eustice R M, Whitcomb L L. A Survey of Underwater Vehicle Navigation: Recent Advances and New Challenges[C]//Proceeding Conference Maneuvering Control Marine Craft. Lisbon, Portugal: IST&ISR, 2006: 1-12.
    [4] Paull L, Saeedi S, Seto M, et a1. AUV Navigation and Localization: A Review[J]. IEEE Journal of Oceanic Engineering, 2014, 39(1): 131-149.
    [5] 李亮. SINS/DVL组合导航技术研究[D]. 哈尔滨: 哈尔滨工程大学, 2009.
    [6] 朱忠军. 未知海底环境下AUV组合导航技术研究[D]. 哈尔滨: 哈尔滨工程大学, 2013.
    [7] Dinc M, Hajiyev C. Integration of Navigation Systems for Autonomous Underwater Vehicles[J]. Journal of Marine Engineering & Technology, 2015, 14(1): 32-43.
    [8] Larsen M B. High Performance Doppler-inertial Navigation-experimental Results[C]//Ocean 2000 MTS/IEEE Conference and Exhibition. RI, USA: IEEE, 2000.
    [9] Jalving B, Gade K, Svartveit K, et a1. DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System[J]. Modeling, Identification and Control, 2004, 25(4): 223-235.
    [10] Hegrenæs ?, Ramstad A, Pedersen T, et a1. Validation of a New Generation DVL for Underwater Vehicle Navigation[C]//2016 IEEE/OES Autonomous Underwater Vehicles(AUV). Tokyo, Japan: IEEE, 2016: 342-348.
    [11] 秦永元. 惯性导航[M]. 第4版. 北京: 科学出版社, 2014.
    [12] 赵琳, 杨晓东, 程建华, 等. 现代舰船导航系统[M]. 北京: 国防工业出版社, 2015.
    [13] Tal A, Klein I, Katz R. Inertial Navigation System/Doppler Velocity Log(INS/DVL) Fusion with Partial DVL Measurements[J]. Sensors, 2017, 17(2): 415.
    [14] Panish R, Taylor M. Achieving High Navigation Accuracy Using Inertial Navigation Systems in Autonomous Underwater Vehicles [C]//Proceedings of the OCEANS′11 IEEE. Santander, Spain: IEEE, 2011.
    [15] 徐晓苏, 潘永飞, 邹海军. 基于自适应滤波的SINS/ DVL组合导航系统[J]. 华中科技大学学报(自然科学版), 2015, 43(3): 95-99.

    Xu Xiao-su, Pan Yong-fei, Zou Hai-jun. SINS/DVL Integrated Navigation System Based on Adaptive Filtering[J]. Journal of Huazhong University of Science and Technology (Nature Science Edition), 2015, 43(3): 95-99.
    [16] 唐康华, 江明明, 翁炬. 基于自适应滤波的水下SINS/相控阵DVL组合导航算法设计[J]. 中国惯性技术学报, 2013, 21(1): 65-70.

    Tang Kang-hua, Jiang Ming-ming, Weng Ju. Design of SINS/Phased Array DVL Integrated Navigation System for Underwater Vehicle Based on Adaptive Filtering[J]. Journal of Chinese Inertial Technology, 2013, 21(1): 65-70.
    [17] Karimi M, Bozorg M, Khayatian A R. A Comparison of DVL/INS Fusion by UKF and EKF to Localize an Autonomous Underwater Vehicle[C]//Proceeding of the 2013 RSI/ISM International Conference on Robotics and Mechatronics. Tehran, Iran: IEEE, 2013.
    [18] Arasaratnam I, Haykin S. Cubature Kalan Filters[J]. IEEE Transactions on Automatic Control, 2009, 54(6): 1254- 1269.
    [19] 徐晓苏, 董亚, 童金武, 等. 基于5阶球面最简相径的改进型容积卡尔曼滤波在SINS/DVL组合导航中的应用[J]. 中国惯性技术学报, 2017, 25(3): 343-348.

    Xu Xiao-su, Dong Ya, Tong Jin-wu, et al. Improved Fifth-degree Spherical Simplex Sadial Cubature Kalman Filter in SINS/DVL Integrated Navigation[J]. Journal of Chinese Inertial Technology, 2017, 25(3): 343- 348.
    [20] 王宏健, 李村, 么洪飞, 等. 基于高斯混合容积卡尔曼滤波的UUV自主导航定位算法[J]. 仪器仪表学报, 2015, 36(2): 254-261.

    Wang Hong-jian, Li Cun, Yao Hong-fei, et al. Gaussian Mixture Cubature Kalman Filter Based Autonomous Navigation and Localization Algorithm for UUV [J]. Chinese Journal of Scientific Instrument, 2015, 36(2): 254-261.
    [21] Shabani M, Gholami A, Davari N. Asynchronous Direct Kalman Filtering Approach for Underwater Integrated Navigation System[J]. Nonlinear Dyn, 2015, 80(1-2): 71-85.
    [22] Davari N, Gholami A. An Asynchronous Adaptive Direct Kalman Filter Algorithm to Improve Underwater Navigation System Performance[J]. IEEE Sensors Journal, 2017, 17(4): 1061-1068.
    [23] He H, Xu J, Li J, et al. Improved Fast Backtracking Alignment Approach for Strapdown Inertial Navigation System[J]. Journal of Chinese Inertial Technology, 2015, 23 (2): 179-183.
    [24] Malakar B, Roy B K. A Novel Application of Adaptive Filtering for Initial Alignment of Strapdown Inertial Navigation System[C]//2014 International Conference on Circuits, Systems, Communication and Information Technology Applications IEEE. Mumbai, India: IEEE, 2014: 189-194.
    [25] 王新龙. 捷联式惯导系统动、静基座初始对准[M]. 西安: 西北工业大学出版社, 2013.
    [26] 邹海军. 光纤陀螺捷联惯导系统初始对准技术研究[D]. 南京: 东南大学, 2015.
    [27] Liu X, Xu X, Liu Y, et a1. A Fast and High-accuracy Transfer Alignment Method Between M/S INS for Ship Based on Iterative Calculation[J]. Measurement, 2014, 51(1): 297-309.
    [28] 梅春波, 秦永元, 游金川. SINS基于非线性量测的大失准角初始对准算法[J]. 宇航学报, 2016, 37(3): 291-297.

    Mei Chun-bo, Qin Yong-yuan, You Jin-chuan. Nonlinear Measurement Based SINS Initial Alignment Algorithm Under Large Misalignment Angle[J]. Journal of Astronautics, 2016, 37(3): 291-297.
    [29] 朱春云, 庄广琛, 宋雅兰, 等. DVL安装角估计方法在水下组合导航系统中的应用[J]. 中国惯性技术学报, 2011, 19(1): 75-78.

    Zhu Chun-yun, Zhuang Guang-chen, Song Ya-lan, et al. DVL Installation Angle Estimation and Application in Underwater Integrated Navigation System[J]. Journal of Chinese Inertial Technology, 2011, 19(1): 75-78.
    [30] Kinsey J C, Whitcomb L L. In Situ Alignment Calibration of Attitude and Doppler Sensors for Precision Underwater Vehicle Navigation: Theory and Experiment[J]. IEEE Journal of Oceanic Engineering, 2007, 32(2): 286-299.
    [31] Troni G, Whitcomb L L. Experimental Evaluation of New Methods for Insitu Calibration of Attitude and Doppler Sensors for Underwater Vehicle Navigation[C]//Intelligent Robots and Systems IEEE/RSJ International Conference. San Francisco, CA: IEEE, 2011.
    [32] Troni G, Kinsey J C, Yoerger D R, et al. Field Performance Evaluation of New Methods for In-Situ Calibration of Attitude and Doppler Sensors for Underwater Vehicle Navigation[C]//In Robotics and Automation IEEE International Conference. St. Paul, Minnesota: IEEE, 2012.
    [33] Troni G, Whitcomb L L. Advances in In Situ Alignment Calibration of Doppler and High/Low-end Attitude Sensors for Underwater Vehicle Navigation: Theory and Experimental Evaluation[J]. Journal of Field Robotics, 2015, 32(5): 655-674.
    [34] Kinsey J C, Whitcomb L L. Adaptive Identification on the Group of Rigid-body Rotations and Its Application to Underwater Vehicle Navigation[J]. IEEE Transactions on Robotics, 2007, 23(1): 124-136.
    [35] Stanway M J, Kinsey J C. Rotation Identification in Geometric Algebra: Theory and Application to the Navigation of Underwater Robots in the Field[J]. Journal of Field Robotics, 2015, 32(2): 632–654.
    [36] 于玖成, 何昆鹏, 王晓雪. SINS/DVL组合导航系统的标定[J]. 智能系统学报, 2015, 10(1): 143-148.

    Yu Jiu-cheng, He Kun-peng, Wang Xiao-xue. Calibration for Strapdown Inertial Navigation/Doppler Velocity Log Integrated Navigation System[J]. CAAI Transactions on Intelligent Systems, 2015, 10(1): 143-148.
    [37] Li W, Wang J, Lu L, et al. A Novel Scheme for DVL-aided SINS In-Motion Alignment Using UKF Techniques[J]. Sensors, 2013, 13(1): 1046-1063.
    [38] Li W, Wu W, Wang J, et al. A Novel Backtracking Navigation Scheme for Autonomous Underwater Vehicles[J]. Measurement, 2014, 47(47): 496-504.
    [39] Pan X, Wu Y. Underwater Doppler Navigation with Self-calibration[J]. The Journal of Navigation, 2016, 69(2): 295-312.
    [40] Li W, Zhang L, Sun F, et a1. Alignment Calibration of IMU and Doppler Sensors for Precision INS/DVL Integrated Navigation[J]. Optik, 2015, 126(23): 3872-3876.
    [41] Zhu Y, Cheng X, Hu J, et a1. A Novel Hybrid Approach to Deal with DVL Malfunctions for Underwater Integrated Navigation Systems[J]. Journal of Applied Sciences, 2017, 7(8): 759.
    [42] Zhao L, Liu X, Wang L, et a1. A Pretreatment Method for the Velocity of DVL Based on the Motion Constraint for the Integrated SINS/DVL[J]. Journal of Applied Sciences, 2016, 6(3): 79.
    [43] Hegrenæs ?, Berglund E. Doppler Water-track Aided Inertial Navigation for Autonomous Underwater Vehicle [C]//Proceedings of the IEEE Oceans Conference and Exhibition. Bremen, Germany: IEEE, 2009.
    [44] Hegrenaes ?, Hallingstad ?. Model-aided INS with Sea Current Estimation for Robust Underwater Navigation[J]. IEEE Journal of Oceanic Engineering, 2011, 36(2): 316-337.
    [45] Martinez A, Hernandez L, Sahli H, et a1. Model-aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle[J]. International Journal of Advanced Robotic Systems, 2015, 12(7): 103.
    [46] 马伟锋, 胡震. AUV的研究现状与发展趋势[J]. 火力指挥与控制, 2008, 33(6): 10-13.

    Ma Wei-feng, Hu Zhen. Current Researches and Development Trend on AUV[J]. Fire Control and Command Control, 2008, 33(6): 10-13.
    [47] 薛连莉, 陈少春, 陈效真. 2016年国外惯性技术发展与回顾[J]. 导航与控制, 2017, 16(3): 105-112.

    Xue Lian-li, Chen Shao-chun, Chen Xiao-zhen. Development and Review of Foreign Inertial Technology in 2016[J]. Navigation and Control, 2017, 16(3): 105-112.
    [48] 陈尚, 张世军, 穆星科, 等. MEMS陀螺技术国内外发展现状简述[J]. 传感器世界, 2016, 22(4): 19-23.

    Chen Shang, Zhang Shi-jun, Mu Xing-ke, et al. A Brief Review on the Development of MEMS Gyroscopes at Home and Abroad[J]. Sensor World, 2016, 22(4): 19-23.
    [49] 刘国勤, 彭东立. 相控阵多普勒计程仪的相控波束形成[J]. 声学技术, 2015, 34(4): 374-379.

    Liu Guo-qin, Peng Dong-li. Beam-forming of Phased-array Doppler Velocity Log[J]. Technical Acoustics, 2015, 34(4): 374-379.
    [50] 张福斌, 鲍鸿杰, 段小伟, 等. 一种考虑洋流影响的AUV组合导航算法[J]. 计算机测量与控制, 2012, 20(2): 513-515.

    Zhang Fu-bin, Bao Hong-jie, Duan Xiao-wei, et al. An AUV Integrated Navigation Algorithm Considering the Effect of Ocean Current[J]. Computer Measurement & Control, 2012, 20(2): 513-515.
    [51] 赵琳, 王小旭, 丁继成, 等. 组合导航系统非线性滤波算法综述[J]. 中国惯性技术学报, 2009, 17(1): 46-52.

    Zhao Lin, Wang Xiao-xu, Ding Ji-cheng, et al. Overview of Nonlinear Filter Methods Applied in Integrated Navigation System[J]. Journal of Chinese Inertial Technology, 2009, 17(1): 46-52.
    [52] Zhang T, Chen L, Li Y. AUV Underwater Positioning Algorithm Based on Interactive Assistance of SINS and LBL [J]. Sensors, 2016, 16(1): 42.
    [53] 张涛, 胡贺庆. 一种改进的水下三阵元辅助惯导系统的定位算法[J]. 中国惯性技术学报, 2017, 25(2): 192-196.

    Zhang Tao, Hu He-qing. Improved Positioning Algorithm of Inertial Navigation System with Aiding of Underwater Three-element Array[J]. Journal of Chinese Inertial Technology, 2017, 25(2): 192-196.
    [54] 徐博, 郝芮, 王超, 等. 水下潜航器的惯导/超短基线/多普勒测速信息融合及容错验证[J]. 光学精密工程, 2017, 25(9): 2508-2515.

    Xu Bo, Hao Rui, Wang Chao, et al. INS/USBL/DVL Information Fusion and Fault-tolerant Verification for Un-derwater Vehicles[J]. Optics and Precision Engineering, 2017, 25(9): 2508-2515.
    [55] 张亚文, 莫明岗, 马小艳, 等. 一种基于集中滤波的SINS/DVL/USBL水下组合导航算法[J]. 导航定位与授时, 2017, 4(1): 25-31.

    Zhang Ya-wen, Mo Ming-gang, Ma Xiao-yan, et al. An Algorithm of Underwater SINS/DVL/USBL Integrated Navigation Based on Concentrated Filtering[J]. Navigation Positioning and Timing, 2017, 4(1): 25-31.
    [56] 曹俊, 郑翠娥, 孙大军, 等. AUV直线航迹下的单信标测距定位[J]. 哈尔滨工程大学学报, 2017, 38(5): 733-738.

    Cao Jun, Zheng Cui-e, Sun Da-jun, et al. AUV Positioning Based on Single-beacon Ranging in Straight-line Trajectory[J]. Journal of Harbin Engineering University, 2017, 38(5): 733-738.
    [57] 王彬, 翁海娜, 梁瑾, 等. 一种惯性/水声单应答器距离组合导航方法[J]. 中国惯性技术学报, 2017, 25(1): 86-90.

    Wang Bin, Weng Hai-na, Liang Jin, et al. Inertial/Acoustic Range Integrated Navigation with Single Transponder[J]. Journal of Chinese Inertial Technology, 2017, 25(1): 86-90.
    [58] 张静远, 谌剑, 李恒, 等. 水下地形辅助导航技术的研究与应用进展[J]. 国防科技大学学报, 2015, 37(3): 128-135.

    Zhang Jing-yuan, Chen Jian, Li Heng, et al. Research and Application Progress on Underwater Terrain-aided Navigation Technology[J]. Journal of National University of Defense Technology, 2015, 37(3): 128-135.
    [59] Melo J, Matos A. Survey on Advances on Terrain Based Navigation for Autonomous Underwater Vehicles[J]. Ocean Engineering, 2017, 139(1): 250-264.
    [60] Anonsen K B, Hagen O K, Hegrenæs ?, et a1. The HUGIN AUV Terrain Navigation Module[C]//OCEANS 2013 IEEE MTS Conference. San Diego, CA, USA: IEEE, 2013: 1966-1973.
    [61] Teixeira F C, Quintas J, Pascoal A. Experimental Validation of Magnetic Navigation of Marine Robotic Vehicles[J]. IFAC-Papers On Line, 2016, 49(23): 273-278.
    [62] 付梦印, 刘飞, 袁书明, 等. 水下惯性/重力匹配自主导航综述[J]. 水下无人系统学报, 2017, 25(1): 31-43.

    Fu Meng-yin, Liu Fei, Yuan Shu-ming, et al. Review of Undersea Autonomous Inertial-Gravity Matching Navigation[J]. Journal of Unmanned Undersea Systems, 2017, 25(1): 31-43.
  • 加载中
计量
  • 文章访问数:  2264
  • HTML全文浏览量:  109
  • PDF下载量:  1622
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-10-27
  • 修回日期:  2017-12-20
  • 刊出日期:  2018-02-28

目录

    /

    返回文章
    返回
    服务号
    订阅号