中水层复杂动态环境下SINS/DVL跨水域连续导航方法研究

SINS/DVL组合导航系统已具备浅水/近底平稳海域工作能力。但在下潜/上浮海域、常规中水层海域、海床起伏深远海海域等中水层环境下，其存在跨水域连续导航逻辑失效、高动态测速精度下降、非完整波束系统完备性缺失三个问题，极大地限制了以SINS/DVL为主导的水下潜器的工作范围、机动轨迹和导航精度。.因此，本项目拟针对SINS/DVL在中水层导航时重点存在的跨海域、高动态、非完整波束导航困境分别提出：1）交错格网多水域划分下混合交互式多模型SINS/DVL主体架构方法，解决全海域连续导航问题；2）惯性信息辅助DVL测速误差高精度建模补偿及噪声抑制方法，解决全动态高精度导航问题；3）虚拟DVL多模式智能构建方法及完备性设计理论，解决非完整波束抗差导航问题。通过上述理论方法研究，提升SINS/DVL系统环境适应性及工作效能，为国家“深蓝”海洋战略提供理论技术支撑和安全保障。

SINS/DVL integrated navigation system has already acquired the ability of working in shallow or near-bottom stable underwater environment. However, in the mid-water regions such as the descending/ascending areas, normal mid-water areas and undulating deep-sea areas, it will encounter three problems: the navigation logic failure when crossing waters, the observation accuracy decrease under the high-dynamic motions, and the system incompleteness due to invalid beams. These problems have greatly limited the working range, maneuvering trajectory and navigation accuracy of the SINS/DVL-dominated underwater vehicles...Therefore, to solve the cross-sea, highly dynamic and invalid beam navigation dilemmas when SINS/DVL operates in the mid-water areas, the study proposes: 1) a hybrid interacting multiple model SINS/DVL mechanization under the interlaced grid multi-water structure, realizing the continuous navigation in the whole sea; 2) an INS aided high-precision correction method with its noise suppression technique for DVL measurements, realizing the high-accuracy navigation under the high dynamic environment; 3) an multi-mode intelligent virtual DVL construction method and its completeness design theory, realizing the robust navigation with invalid beam data. Through the above theoretical investigations, this study will improve the environmental adaptability and navigation efficiency of SINS/DVL integrated navigation system, providing the theoretical technical support and safety guarantee for the china's "deep blue" marine strategy.