SHIPENGINEERING船舶工程Vol.45No.22023总第45卷，2023年第2期—167—AUV海底地形匹配导航方法综述高靖萱，张亚，孙风胜（大连海洋大学航海与船舶工程学院，辽宁大连116023）摘要：基于智能水下机器人（AUV）导航任务需求与战略规划，总结国内外海底地形匹配导航技术研究现状，分析海底地形匹配导航系统应用中所需的关键技术及解决途径，包括滤波算法、地形特征提取和测深数据处理等。系统性归纳海底地形匹配导航的前沿方向，并结合我国的研究现状与发展需求展望海底地形匹配导航未来的发展方向，即发展高精度水下激光测距地形测绘设备、发展低分辨率先验海图下的海底地形匹配导航算法，以及通过深度学科交叉趋势提升海底地形匹配导航的精度、效率和鲁棒性。关键词：智能水下机器人；海底地形；匹配导航；滤波算法；地形特征提取；测深数据处理中图分类号：U666.11文献标志码：A【DOI】10.13788/j.cnki.cbgc.2023.02.23ReviewforAUVSeabedTerrainAidedNavigationMethodsGAOJingxuan,ZHANGYa,SUNFengsheng(SchoolofNavigationandNavalArchitecture,DalianOceanUniversity,Dalian116023,Liaoning,China)Abstract:Inviewofthemissionrequirementsandstrategicplanningoftheautonomousunderwatervehicle(AUV),thedevelopmentoftheseabedterrainaidednavigationissummarized.Keytechnologiesandsolutionsrequiredintheapplicationoftheseabedterrainaidednavigationsystemareanalyzed,includingnavigationfilteringalgorithm,terrainfeatureextraction,andbathymetricdataprocessing.Thefrontierdirectionsofseabedterrainreferencednavigationissystematicallysummarized,andcombinedwiththecurrentresearchsituationanddevelopmentneedsinChina,thefuturedevelopmentdirectionofseabedterrainaidednavigationisprospected,includingthedevelopmentofhigh-precisionunderwaterlaserrangingtopographicmappingequipment,thedevelopmentofseabedterrainaidednavigationalgorithmsunderlow-resolutionpriorseacharts,andtheimprovementoftheaccuracy,efficiency,androbustnessofseabedterrainaidednavigationthroughthetrendofdepthdisciplineintersection.Keywords:autonomousunderwatervehicle(AUV);seabedterrain;aidednavigation;filteringalgorithm;terrainfeatureextraction;bathymetricdataprocessing0引言精确的水下导航与定位技术是智能水下机器...
