低成本、长航时导航定位是长航程AUV/水下滑翔机进入深海、探测深海的关键。本项目拟开展基于波浪滑翔器、水声通信机、MEMS传感器等海洋“轻”装备的协同系统研究，取长补短，重点攻克协同系统工作时面临的关键技术难题，解决现有导航定位系统存在的成本高、不适合长时间工作等瓶颈问题。具体措施：（1）基于线下神经网络训练/线上优化决策，提出新型波浪滑翔器路径规划方法，确保波浪滑翔器与水下航行器之间持续可靠的信息交互；（2）基于声速剖面耦合模型/等梯度声速剖面快速算法，提出高效水声通信单向测距方法，实现水平距离快速精确估计；（3）基于决策反馈降噪自编码/自适应卡尔曼滤波，提出水声通信-MEMS传感器协同导航定位方法，保证导航定位精准度。在此基础上，通过对于各海洋“轻”装备的协同整合与深度融合，实现远海低成本、长航时协同导航定位。本研究对推动我国深远海通用配套技术能力的提升具有重大科学意义。

Low-cost/long-endurance navigation and positioning system is key support system for long-range AUV/underwater-glider in entering, exploring, and developing the deep sea. To solve bottleneck problems of existing navigation and positioning systems such as high cost and unsuitability for long-endurance work, this project aims to develop a cooperative system based on wave glider, underwater acoustic communication, MEMS sensors, and focus on tackling the key technical problems faced by the above "light" equipment in deep integration. To accomplish this, the following measures are taken. First, a fast algorithm for sound propagation delay and the constant-gradient sound velocity profile are used to achieve fast and accurate estimation of the horizontal distance. Second, the method of underwater acoustic communication aided by navigation and positioning using MEMS sensors is studied to ensure bounded navigation and positioning errors. It is based on a decision feedback denoising self-coding algorithm/adaptive Kalman filter algorithm. Finally, the method of path planning based on off-line neural network training/on-line optimal decisions is studied to ensure continuous and effective information exchange between wave glider and underwater vehicle. On this basis, through the collaborative integration and deep fusion of each "light" equipment, low-cost, long-endurance cooperative navigation and positioning can be realized in the deep sea. This study is of particular significance in addressing the demand for low-cost, long-endurance navigation and positioning systems for China’s long-range AUV/underwater-glider.