极区多水下航行器协同定位技术研究

极地对我国未来发展至关重要。极地海洋环境调查、极区海底地形地貌勘测、极区军事情报收集、水雷探测、沿岸反潜、中继通信等任务都是针对极区开发必须或是有必要研究探索与发展的。在完成上述任务过程中，采用无人水下航行器无疑是最优选择，无人水下航行器不仅能完成各类勘测任务，并且在工作过程中无人参与。水下高精度导航是无人航行器完成任务的关键，尤其对多水下航行器协作系统显得至关重要，这对于多航行器系统的编队保持与控制，相互间的高效协同作业起着决定性作用。本项目拟针对极区多水下航行器协同定位技术展开深入研究，意在解决极区惯性导航机械编排方案、高效水下航行器协同定位算法、复杂水文环境下的强稳定性极区协同导航定位方案等问题。最终形成一套完整的极区系统导航定位工作方案。本项目研究内容将是在该领域的全新探索与尝试，这不仅对于该项技术的发展具有重要的理论价值，而且对于我国海军的军事发展具有重要意义。

The polar region is very important to the future development of our country. The polar ocean environment survey, polar underwater topography survey, polar military intelligence collection, naval mine detection, coast anti-submarine, and relay communication and so on are must or necessary to research and explore for the polar development. In the process of complete the task, the unmanned underwater vehicle is the optimal choice. The unmanned underwater vehicle can not only complete various missions, but also can working with unattended operation. High-precision underwater navigation is the key of the unmanned underwater vehicle to complete the task, especially for the collaborative multiple underwater vehicle system, this is very important to the multiple underwater vehicle system formation and control and efficient collaborative working. This project is proposed to work on the polar multiple underwater vehicle co-location technology, solve the polar inertial navigation machinery layout scheme, propose efficient underwater vehicle collaborative localization algorithm, and solve the complex hydrological environment of strong polar stability problem such as collaborative navigation positioning scheme. Eventually form a complete set of scheme for polar navigation and positioning system. The research content of this project will be in the field of new exploration and attempt, it not only has important theoretical value for the development of the technology, but also has important significance for China's navy's military development.