水下航行器地形高程匹配算法研究综述

熊露; 李京书; 饶喆; 霍治帆

doi:10.11993/j.issn.2096-3920.2024-0152

水下航行器地形高程匹配算法研究综述

doi: 10.11993/j.issn.2096-3920.2024-0152

1.
陆军工程大学军械士官学校, 湖北武汉, 430075
2.
海军工程大学作战运筹与规划系, 湖北武汉, 430033
3.
海军工程大学兵器工程学院, 湖北武汉, 430033

基金项目: 国家自然科学基金青年基金项目资助(42304006); 国家自然科学基金面上项目资助(52471386); 湖北省教育厅科科学技术研究重点项目(D20234801); 湖北省高等学校优秀中青年科技创新团队计划项目(T2023055).

详细信息

作者简介:
熊露：熊　露(1986-), 女, 博士, 讲师, 主要研究方向为水下定位导航、目标识别与跟踪

中图分类号: U666.1; P228
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- 文章访问数: 13
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- 被引次数: 0
出版历程
- 收稿日期: 2024-11-05
- 修回日期: 2024-12-30
- 录用日期: 2025-01-20
- 网络出版日期: 2025-01-22

A Review of Terrain Elevation Matching Algorithms for Underwater Vehicles

1.
Ordnance NCO Academy, Army Engineering University of PLA, Wuhan 430075, China
2.
Dept. of Operational Rsearch and Programming, Naval University of Engineering, Wuhan 430033, China
3.
College of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China

摘要

摘要: 水下航行器惯导误差随时间推移会不断累积, 地形高程匹配技术以地形特征为定位依据, 能够根据实测地形为惯导系统提供所需的持续位置修正信息, 是国内外水下辅助导航领域的研究热点。文章以水下航行器地形匹配高程算法的发展为研究对象, 首先指出当前水下航行器导航定位所面临的问题, 在此基础上介绍了水下航行器地形匹配的基本原理及系统组成, 并以水下地形匹配算法的发展为脉络, 按序依次阐释了地形匹配算法发展中的主要阶段及典型算法的原理和优缺点; 然后, 分别介绍了国内外水下地形匹配算法的原理改进和试验应用情况; 最后, 简要总结国内外在水下地形匹配算法方面研究的侧重点, 并结合并行计算、多波束声呐和水下地形特征分析三方面技术的发展, 探讨了提高水下匹配算法性能的有效途径, 可为本领域研究人员提供借鉴参考。
- 水下航行器 /
- 地形辅助导航 /
- 地形高程 /
- 地形匹配算法
Abstract: The inertial guidance error of underwater vehicles accumulates over time, and the terrain elevation matching technology, which is based on terrain features, can provide the required continuous position correction information for the inertial guidance system according to the measured terrain, and is a hot spot of research in the field of domestic and foreign underwater navigation aid. This paper takes the development of terrain matching elevation algorithm for underwater vehicles as the research object, firstly, points out the problems faced by the navigation and positioning of underwater vehicles, and then introduces the basic principle and system composition of terrain matching for underwater vehicles on the basis of this, and takes the development of underwater terrain matching algorithm as the vein, and then expounds the main stages in the development of terrain matching algorithm and typical algorithms, the principle, the advantages and disadvantages in the order of order. Then, the principle improvement and experimental application of underwater terrain matching algorithm are introduced from foreign and domestic aspects respectively. Comparing with the current research status at home and abroad, effective ways to improve the performance of the matching algorithm are proposed for the reference of related researchers. Finally, the similarities and differences between domestic and international research on underwater terrain matching algorithms was briefly summarized, and by combining the technological development of parallel computing, multibeam sonar, and underwater terrain characterization, the effective ways to improve the performance of underwater matching algorithms was discussed so as to provide reference for researchers of this field.
- underwater vehicle /
- terrain-aided navigation /
- terrain elevation /
- terrain matching algorithm

HTML全文

图 1 水下地形匹配原理示意图

Figure 1. Schematic diagram of the underwater terrain matching principle

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图 2 水下地形匹配导航系统组成框图

Figure 2. Block diagram of the underwater terrain-matching navigation system components

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图 3 水下地形匹配算法相关滤波算法分类图

Figure 3. Filter algorithms related to underwater terrain matching algorithms

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图 4 水下地形匹配算法发展主线路图

Figure 4. Roadmap for the development of underwater terrain matching algorithms

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图 5 REMUS-100型AUV水下地形匹配导航试验

Figure 5. Underwater terrain-matching navigation test based on the REMUS-100 AUV

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图 6 Medusa AUV水下地形匹配试验

Figure 6. Underwater terrain matching test experiment for the Medusa AUV

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图 7 ASV水下地形匹配试验平台

Figure 7. Underwater terrain matching test platform of ASV

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图 8 文献[92]试验船只及其测深和定位设备

Figure 8. Test vessel and on-board bathymetric and positioning equipment

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图 9 文献[94]试验船只及其试验设备

Figure 9. Test vessel and associated matching test equipment

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表 1 典型水下地形匹配算法及其优缺点

Table 1. Typical underwater terrain matching algorithms and their advantages and disadvantages

类型	典型算法	优点	缺点
地形轮廓匹配	TERCOM ICCP MLE	1)流程简单, 算法相对成熟; 2)较大初始误差条件下可正常工作; 3)易于硬件实现。	1)数据批处理方法实时性较差; 2) TERCOM对惯导指示航向、 ICCP对管道指示位置误差敏感; 3)对航行器机动有限制; 4)在导航、测深存在“野值”时鲁棒性较差。
线性Kalman滤波地形匹配	SITAN	1)实时性好; 2)对航行器机动限制少; 3)以卡尔曼滤波为核心, 应用广泛。	1)大初始位置误差易导致匹配精度降低或滤波发散; 2)地形线性化过程会引入截断误差, 不适合地形剧烈变化区域;
非线性Kalman滤波地形匹配	UKF	1)无需计算Jacobi矩阵, 实时性好; 2)对航行器机动限制少, 不需要进行地形线性化处理。	1)系统误差随机变量需满足高斯分布; 2)低信噪比条件匹配算法鲁棒性不足; 3)影响算法性能的采样点参数不易量化。
基于概论准则匹配	PF PMF	1)状态、误差变量不受非线性、非高斯条件约束; 2)理论上能够逼近任意概论分布; 3)算法匹配精度较高, 具有一定鲁棒性。	1)计算量会随所估计状态维数大幅增加, 降低算法实时性; 2)粒子并行计算实现相对困难; 3)存在粒子信息贫瘠和粒子退化问题; 4)硬件实现成本高。

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