极区深海空间站自主安全导航理论与关键技术

Deep-sea resources exploitation, deep-sea exploration and scientific research, and marine defense have attracted more and more attention in recent years. Deep-sea space station and the polar expedition have also been listed as national 100 major projects in the next five years by Chinese government. High accuracy, high reliability and long-time autonomous navigation system is necessary for long-time operation of deep-sea vessels. To fulfill this demand, the deep-sea navigation technology framework of global sea area (including polar region) will firstly be established in this project. Then the research will be focused on the polar navigation problem of deep-sea space station, and aim to develop the polar deep-sea navigation theory and approach, which is based on polar grid-frame inertial navigation mechanics, periodic oscillation error suppression technology and polar initial alignment. To solve the error accumulation problem of long-term autonomous deep-sea navigation system in polar region, for the main navigator, the grid-frame redundant configuration based dual-axis rotating modulation method is addressed. Meanwhile, global physical field/acoustic assisting navigation theory and approach will be involved as assistant measures. Finally, considering the conditions of wide range complex environment and weak observation, new deep-sea 3-dimensional autonomous navigation route plan methods will be proposed, which could improve the safety of underwater vehicle while sailing in complex, variable, and unknown deep-sea environment. It is expected to realize new integrative deep-sea autonomous navigation system by this project.

近年来，深海资源开发、深海探测与科学研究以及海洋综合防卫能力在国际上受到高度重视，深海空间站和极区科考被我国政府列入未来5年实施的100个重大工程项目。针对深海空间站在极区水下长航时、高精度和高可靠性的自主导航需求，本项目拟从全球海域（含极区）深海导航体系框架构建入手，梳理深海空间站的极区导航问题，研究基于格网参考框架的极区惯性导航力学编排、周期振荡误差抑制方法以及初始对准等技术，提出极区深海惯性导航理论与方法，解决水下自主导航的精度和可靠性问题；提出极区格网系基于冗余配置的双轴旋转调制技术，完善基于地球物理场/声学信息的辅助导航理论和方法，解决极区深海自主导航长航时误差累积问题；提出适应大范围复杂环境、弱观测条件下深远海三维空间构建和自主导航规划新方法，解决极区深海复杂、多变、未知环境下的航行安全问题，最终实现构建一体化极区深海自主导航新体系的研究目标。

近年来，深海资源开发、深海探测与科学研究以及海洋综合防卫能力在国际上受到高度重视，“十三五”、《中国制造2025》和《中国的北极政策》白皮书中均明确指出将大力推动深海及极地科考发展，而无论国家安全保障、冰区作业、资源勘探还是深远海航行都离不开极区导航系统的参与。本项目致力于深远海运载器水下长航时、高精度和高可靠性自主导航理论与应用的研究，在极区深海惯性导航、极区长航时高精度和高可靠性自主导航、深远海弱观测不确定环境下的航行适应性等方面均取得了创新性研究成果。建立了基于旋转椭球模型的格网惯性导航误差模型，提出了极区捷联惯导系统快速传递对准算法；提出了基于双轴旋转调制的捷联惯导冗余设计理论，发展了基于惯性/重力/声学导航的多源导航信息融合理论；建立了具有三维特征表达和时空过程性的深海空间站运动空间模型，提出了基于QPSO及其改进AQPSO的UUV导航规划方法。最终构成了一套符合深远海应用的自主安全导航理论，为开展深远海技术研究和设备研制提供理论和方法支撑。.项目研究成果发表论文122篇，其中SCI/EI检索52/70篇，获各类奖励11项，授权发明专利9项，申请发明专利40项；参加学术会议和交流报告27人次；培养博士生29名，硕士生46名；理论成果用于解决极区深远海运载器水下长航时、高精度和高可靠应用的实际问题，与国内多家研究所合作开展了极区深远海示范应用，展现了巨大的军事、科考和经济价值。