自主水下航行器导航与定位技术

精确导航与定位对AUV执行水下作业任务的安全性和有效性至关重要.与陆地导航定位相比,由于全球卫星导航系统(GNSS)在水下不可用以及海洋环境的独特物理特性,水下导航定位更具挑战性.近年来用于AUV导航定位的传感器在性能和精度方面有了显著的提升,除此之外,同步定位与地图构建、协同定位算法的日益成熟极大的提升了AUV导航定...

Navigation of Autonomous Underwater Vehicles

Accurate navigation is critical for the safety and effectiveness of AUV missions.Underwater navigation is challenging compared with terrestrial applications due to the unavailability of GNSS and to the unique physics of sensing in the marine environment.Recent years have seen considerable improvements in performance and accuracy of the various sensor devices available for AUV navigation.In concert with these developments,advances in algorithms such as simultaneous localization and mapping,and cooperative navigation have enabled dramatic improvements in the navigation capabilities of AUVs.This paper presents a survey on some important navigation systems for AUV.These techniques can be used to calculate the current position or to localize the robot/vehicle underwater.