无人水面艇的布放回收长期以来都是依靠人工进行，是制约无人艇在实际工程广泛应用的重要因素之一。导航与定位技术是无人艇实现自主回收的关键，然而目前无人艇回收过程基本还采用人工遥控手段，保障要求高、智能化水平低。本文阐述了无人艇自主回收过程中导航定位技术的应用现状，介绍了无人艇回收各个阶段的导航过程，对其中涉及的关键技术进行分析，包括无人艇多源导航信息融合技术和近距离视觉相对定位技术，最后对无人艇自主回收中的导航定位技术进行总结与展望。
The launch and recovery of unmanned surface vehicle（USV） have long relied on manual work, which is one of the important factors limiting the wide application of USV in practical engineering. Navigation and positioning technology is the key to achieve autonomous recovery of USV, however, at present, the recovery process of USV basically still adopts manual remote control means, with high security requirements and low level of intelligence. This paper describes the current situation of the application of navigation and positioning technology in the process of USV autonomous recovery, introduces the navigation process in each stage of USV recovery, analyzes the key technologies involved, including USV multi-source navigation information fusion technology and proximity visual relative positioning technology, and finally summarizes and outlooks on the navigation and positioning technology in USV autonomous recovery.
2023,45(8): 72-77 收稿日期：2022-10-11
DOI：10.3404/j.issn.1672-7649.2023.08.015
分类号：U675.73
作者简介：许晨(1998-),男,硕士研究生,研究方向为无人艇导航与控制
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