针对传统水声定位系统对水下无人系统（Unmanned Underwater Vehicles, UUV）集群定位时存在的半双工以及更新频率低等问题，提出一种单浮标辅助定位组合导航系统。不同于传统的超短基线定位系统（Ultra-Short Base Line, 以下简称为USBL）定位，本文系统利用无源单向水声定位方式，单浮标周期性广播声脉冲信号，UUV根据其水听器阵列接收声脉冲时间差以及相位差解算自身位置信息。由于广播范围内的所有UUV可同步定位，因此该定位方法不受集群成员数量限制，具有良好的可拓展性。此外由于基于单声程信号定位且不对外发射声波，该定位方法还具有位置更新率高、隐蔽性好和能耗低等优点，为UUV集群水下导航定位领域带来了新的解决方案。
To address the limitations of traditional acoustic positioning systems, such as half-duplex communication and low update frequency in UUV (Unmanned Underwater Vehicles) cluster positioning, this paper proposes a single-buoy-assisted positioning and integrated navigation system. Unlike conventional Ultra-Short Base Line (USBL) positioning systems, this system employs a passive, one-way acoustic positioning method. A single buoy periodically broadcasts acoustic pulse signals, and UUVs calculate their position information based on the time difference and phase difference of the acoustic pulses received by their hydrophone arrays. Since all UUVs within the broadcast range can be synchronized for positioning, this method is not constrained by the number of cluster members and exhibits excellent scalability. Moreover, as the positioning relies on single-path acoustic signals and does not emit sound waves externally, this method features high update rates, superior concealment, and low energy consumption, offering a novel solution for underwater navigation and positioning in UUV clusters.
2025,47(16): 91-99 收稿日期：2024-11-26
DOI：10.3404/j.issn.1672-7649.2025.16.014
分类号：U666.11
作者简介：房国振(1996-),男,硕士,助理工程师,研究方向为组合导航、无人系统
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