基于多源信任评估的适应性校准,用于深海载人潜艇集成导航
Yixu Liu1, Wentao Fu1, Shengya Zhao1,2
1National Deep Sea Center, Qingdao 266237, China.
Sensors (Basel, Switzerland)
|February 27, 2026
概括
这项研究引入了载人潜艇的自适应导航方法,提高了深海环境中的可靠性. 新方法显著减少了位置错误,即使数据异常,提高了潜水导航的安全性.
科学领域:
- 海洋工程 海洋工程
- 机器人和控制系统 机器人和控制系统
- 水下航行水下导航
背景情况:
- 载人潜水导航系统在复杂的深海环境中面临可靠性挑战.
- 准确的定位对于任务的成功和水下作战的安全至关重要.
研究的目的:
- 为载人潜艇开发一种自适应的融合导航方法.
- 通过使用多维信心评估来提高导航系统的可靠性.
主要方法:
- 提出了超短基线 (USBL) 定位系统的四维评估框架.
- 将信号质量,几何精度,环境衰减和数据稳定性纳入评估中.
- 实施了基于实时可靠性评估的适应性重量调整机制.
主要成果:
- 在恶劣的条件下,在异常和数据丢失的情况下,实现了平均1.15米的位置误差.
- 在位置精度方面,与传统方法相比,表现出53.1%的改进.
- 在具有跳跃点异常的场景中显示了58.9%的增强.
结论:
- 拟议的方法显著提高了在复杂的水下声学环境中载人潜艇的导航可靠性.
- 适应融合导航方法为深海勘探提供了相当大的工程应用价值.
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