水下地球物理场辅助导航技术综述

Review of Underwater Geophysical Field-Aided Navigation Technologies

摘要:

随着海洋资源开发的加速，智能水下机器人（Autonomous Underwater Vehicle，AUV）在海洋探索中的应用日益广泛。AUV 的高精度导航技术是其高效作业的关键，而水下地球物理场辅助导航技术因其无需外部传感器辅助、无累积误差等优势，成为近年来研究的热点。回顾了水下地球物理场辅助导航技术的发展现状，重点分析了地形辅助导航、地磁辅助导航和重力辅助导航等主要方法。探讨了地球物理场辅助导航的原理、传感器技术等关键技术。此外，针对以水文信息、偏振光等为数据源的水下地球物理场导航技术和多 AUV 协同地球物理场导航技术进行了简要概述，最终总结了地球物理场辅助导航的未来发展方向。旨在为 AUV 水下导航技术的进一步发展提供参考。

Abstract:

With the accelerated development of marine resource exploration，the application of Autonomous Underwater Vehicles（AUVs）in ocean exploration is increasingly widespread. High-precision navigation technology is crucial for efficient operation of AUVs，and underwater geophysical field-aided navigation has emerged as a research hotspot in recent years due to its advantages，such as independence from external sensors and immunity to cumulative errors. In this paper，the current state of underwater geophysical field-aided navigation technologies is reviewed，and the main methods of terrain-aided navigation，geomagnetic-aided navigation，and gravity-aided navigation are analyzed. The principle，key sensor technology，and other key technologies of geophysical field-aided navigation are discussed. Additionally，underwater geophysical field navigation technology based on hydrological information and polarized light，as well as multi-AUV cooperative geophysical field-aided navigation technologies are introduced briefly. Finally， the future development direction of geophysical field-aided navigation is summarized. This paper aims to provide a reference for the further advancement of AUV underwater navigation technologies.