面向水下机器人的定位技术研究进展与发展趋势

衣正尧; 黄梦诗; 沈兆文; 杨天慈; 王权; 黄成涛

doi:10.11993/j.issn.2096-3920.2026-0069

面向水下机器人的定位技术研究进展与发展趋势

doi: 10.11993/j.issn.2096-3920.2026-0069

衣正尧^{1, 2},
黄梦诗^{1, 2},
沈兆文^{1, 2},
杨天慈^{1, 2},
王权^{1, 2},
黄成涛^{1, 2}

1.
大连海洋大学航海与船舶工程学院, 大连110623
2.
大连海洋大学海事工程设计研究中心, 大连116000

详细信息

作者简介:
衣正尧(1982-),男,副教授,主要研究方向为船舶智能制造及其机器人技术、水下机器人

中图分类号: U666.7;TJ630
计量
- 文章访问数: 5
- HTML全文浏览量: 1
- PDF下载量: 0
- 被引次数: 0
出版历程
- 收稿日期: 2026-04-09
- 修回日期: 2026-07-13
- 录用日期: 2026-07-20
- 网络出版日期: 2026-11-06

Research Progress And Development Trend Of Underwater Positioning Technology For Underwater Robots

YI Zheng-yao^{1, 2},
HUANG Meng-shi^{1, 2},
SHEN Zhao-wen^{1, 2},
YANG Tian-ci^{1, 2},
WANG Quan^{1, 2},
HUANG Chengtao^{1, 2}

1.
School of Navigation and Marine Engineering, Dalian Ocean University, Dalian 110623, China
2.
Marine Engineering Research Center, Dalian Ocean University, Dalian 116000, China

摘要

摘要: 水下定位是水下机器人实现自主作业的核心支撑技术, 受海水电磁屏蔽、声波传播干扰与极端环境约束, 其难度远高于陆地与空中定位。文中系统梳理了水下定位技术从单一声学定位、多源融合定位到智能化集群化定位的演进历程, 分类阐述了声学基线、多普勒测速、惯性导航、地球物理场辅助及视觉光学辅助等基础定位技术的原理、性能与工程适配性, 并分析了多源组合定位与分布式集群定位的技术架构与应用场景, 总结了人工智能、量子传感等前沿技术的研究进展; 在此基础上, 从核心器件、长航时精度、环境鲁棒性及工程化体系维度剖析了当前技术面临的核心挑战, 同时量化对比了国内外技术差距; 最后前瞻性预判了未来四大发展趋势。文中构建了完整的水下定位技术体系框架, 明确了各类技术的性能边界与适配场景, 可为我国水下定位技术的自主创新与工程应用提供理论参考。
- 水下定位 /
- 水下机器人 /
- 声学定位 /
- 组合导航 /
- 新兴前沿导航技术
Abstract: With the further implementation of China’s strategy of building a maritime power, the large-scale application of deep-sea equipment such as underwater robots has placed an urgent demand on underwater positioning technology with high precision, high reliability and long endurance. Constrained by physical factors including electromagnetic shielding in seawater, acoustic propagation interference and extreme environments, the international high-end market remains monopolized by foreign enterprises. Although China has achieved a leap from following to keeping pace with global advanced technologies, it still faces bottlenecks such as low localization rate of core components. Focusing on underwater robot positioning, this paper systematically reviews the three-stage evolution of underwater positioning technology, classifies and expounds the principles, performance and engineering applications of various positioning technologies, analyzes core challenges and predicts four major development trends, so as to provide theoretical references for the independent innovation and engineering application of China’s underwater positioning technology.
- underwater positioning /
- underwater robot /
- acoustic positioning /
- integrated navigation /
- emerging cutting-edge navigation technology

HTML全文

图 1 LBL定位技术原理

Figure 1. Principle of LBL positioning technology

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图 2 SBL定位技术原理

Figure 2. Principle of SBL positioning technology

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图 3 USBL定位技术原理

Figure 3. Principle of USBL positioning technology

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图 4 INS组成与结构示意图

Figure 4. Schematic diagram of the composition and structure of INS

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图 5 地球物理场辅助定位技术原理示意图

Figure 5. Schematic of the principle of geophysical field aided positioning technology

下载: 全尺寸图片幻灯片

表 1 各类水下定位技术性能对比表

Table 1. Performance comparison of various underwater positioning technologies

技术类型	定位精度	作用范围	核心优势	主要局限
基础定位技术
LBL定位	厘米级	百米～千米	精度最高、作用范围广、不依赖母船、支持多目标定位	信标部署回收复杂、前期校准耗时
SBL定位	分米～米级	十米～百米	系统结构简单、部署灵活、成本较低	精度随水深下降
USBL定位	分米级	米～千米	体积小重量轻、集成度高、实时性好	精度低于LBL、受影响大
DVL	测速精度0.1%	0~200米	测速精度高、更新快、提供三维速度姿态信息	平坦地形/浑浊海域易失效
单信标定位	分米～米级	百米～千米	系统极简、部署成本低	受水声信道干扰和姿态误差影响大
SINS	误差随时间累积	无限制(自主)	完全自主、无信号暴露、不受环境干扰	误差随时间累积
地形匹配导航	米级	无限制(依赖地形特征)	自主性强、精度较高、技术相对成熟	不适用于平坦地形、声呐探测精度随水深下降
重力匹配导航	几百米～千米级	全海域	全海域适用、不受水深地形限制	重力信号微弱、基准图构建难度大
地磁匹配导航	几十米～几百米	无限制(依赖地磁特征)	设备体积小、功耗低、无源无累积误差	受地磁变化和金属结构干扰
视觉SLAM定位	厘米级	几米～几十米	短距离精度高、定位建图一体化、可实现环境感知	受水体浊度和光照影响极大、浑浊海域失效
激光/光学定位	毫米级	几米～几十米	精度极高、实时性好、空间分辨率高	仅适用于浅海短距离场景
组合定位技术
INS-DVL组合	分米级	无限制(自主)	最经典方案、自主性强、成本适中	无绝对位置修正
INS-USBL/LBL组合	厘米～分米级	几百米～几千米	定期修正INS累积误差、精度高、适配深海精密作业	依赖外部声学信标、部署复杂
INS-地形匹配组合	米级	地形特征丰富区域	全自主长航时、无外部依赖	依赖高精度地形数据库
多源异构融合	分米级	全海域	高冗余性、强鲁棒性综合性能最优	系统复杂度高、算力需求大

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