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Ocean observation and exploration with underwater vehicles are playing an increasingly important role in scientific research, environmental protection, resource exploitation, disaster prevention, and national security. As a platform expanding the application of the individual underwater vehicle, networks of unmanned underwater vehicles possess outstanding advantages and have become a hot spot and cutting-edge direction in underwater vehicle research and applications globally. This paper reviews the current progress of unmanned underwater vehicle networks both in China and abroad and analyzes several typical application examples. In addition, the most recent experimental results from the National Key Research and Development Program of China during the 13th Five-Year Plan period are highlighted, and the development direction of major technologies is discussed, which may provide a reference for optimizing technologies for unmanned underwater vehicles and expanding the network applications.
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潜水器移动观测与探测是海洋科学研究、环境保护、资源开发、防灾减灾、国防维权等应用的重要手段。作为各型潜水器单机应用的拓展,多平台组网凭借其相比于单机的倍增优势,已成为国际上潜水器研究与应用领域的热点与前沿方向之一。文章回顾了无人潜水器组网的国内外研究现状,对典型案例进行分析,重点介绍“十三五”国家重点研发计划项目的最新试验进展,并对相关技术发展趋势进行展望,为后续中国无人潜水器技术提升和海上组网应用提供科学思路和技术优先方向的参考。
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徐文,教授,博士研究生导师。现任浙江大学海洋研究院常务副院长。《声学学报》、IEEE Journal of Oceanic Engineering、JASA Express Letters等期刊编委。曾任“蛟龙”号载人潜水器海试技术咨询专家、“863”计划海洋环境监测技术主题专家组组长,4次担任南海试验航次首席科学家。长期从事水声信号处理及海洋监测技术研究,关注水声学与物理海洋的结合、水声系统与潜水器技术的结合。主持科技部、中国科学院、国家自然科学基金委员会多项重大科研项目。电子信箱： wxu@zju.edu.cn。 |
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徐文,教授,博士研究生导师。现任浙江大学海洋研究院常务副院长。《声学学报》、IEEE Journal of Oceanic Engineering、JASA Express Letters等期刊编委。曾任“蛟龙”号载人潜水器海试技术咨询专家、“863”计划海洋环境监测技术主题专家组组长,4次担任南海试验航次首席科学家。长期从事水声信号处理及海洋监测技术研究,关注水声学与物理海洋的结合、水声系统与潜水器技术的结合。主持科技部、中国科学院、国家自然科学基金委员会多项重大科研项目。电子信箱： wxu@zju.edu.cn。
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徐文,教授,博士研究生导师。现任浙江大学海洋研究院常务副院长。《声学学报》、IEEE Journal of Oceanic Engineering、JASA Express Letters等期刊编委。曾任“蛟龙”号载人潜水器海试技术咨询专家、“863”计划海洋环境监测技术主题专家组组长,4次担任南海试验航次首席科学家。长期从事水声信号处理及海洋监测技术研究,关注水声学与物理海洋的结合、水声系统与潜水器技术的结合。主持科技部、中国科学院、国家自然科学基金委员会多项重大科研项目。电子信箱： wxu@zju.edu.cn。
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美国/北约AUV组网探测, figureFileSmall=+JetSdvgvmEBWApLMsBgVw==, figureFileBig=8PZaCpZUei3URi//gP8QdA==, tableContent=null), ArticleFig(id=1241718536305963798, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=EN, label=null, caption=null, figureFileSmall=RFXNF5rkOziV63cdOuVE7Q==, figureFileBig=4cm6msYszzRJlAiY+tFIkA==, tableContent=null), ArticleFig(id=1241718536381461271, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=CN, label=图3, caption=
中国有代表性的无人潜水器平台, figureFileSmall=RFXNF5rkOziV63cdOuVE7Q==, figureFileBig=4cm6msYszzRJlAiY+tFIkA==, tableContent=null), ArticleFig(id=1241718536444375832, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=EN, label=null, caption=null, figureFileSmall=MpAE1oPJatyWXNNO5stX7A==, figureFileBig=KTLvBvF6AgD7FhKcCkO5Tw==, tableContent=null), ArticleFig(id=1241718536507290393, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=CN, label=图4, caption=
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基于海面多信标的可迁移区域定位网络, figureFileSmall=UN2IWCyMF7+ABrjCUC8bvg==, figureFileBig=eTvskEbxF1AswDuhyCWF2g==, tableContent=null), ArticleFig(id=1241718536817668894, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=EN, label=null, caption=null, figureFileSmall=51d5j6tRGtIv+g/5BY+FPw==, figureFileBig=BIL8IpkQREd+h/USwL1S0w==, tableContent=null), ArticleFig(id=1241718536884777759, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=CN, label=图7, caption=
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海洋环境协同观测潜水器布放示意图及路径示例, figureFileSmall=CFxjavxvKVsOHp8Hfp+v4w==, figureFileBig=tWFp40odJoPhRXvwCMkFwA==, tableContent=null), ArticleFig(id=1241718537195156260, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=EN, label=null, caption=null, figureFileSmall=VST0pmac54Yls9GsK7esvA==, figureFileBig=5RyGzQeGsfHWctU2pxzXOQ==, tableContent=null), ArticleFig(id=1241718537262265125, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=CN, label=图10, caption=
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| 项目 | 陆上/空中无人系统组网 | 潜水器组网 | 信号处理面临的挑战 | 平台自身面临的挑战 |
| 能源 | 燃油、电池等 | 电池,充电困难 | 功耗与性能的权衡 | 续航能力,低速 |
| 硬件 | 结构仅受形状和材料优化设计制约 | 结构受制于压力和耐腐蚀性,通信和信号处理受限（如压电换能器带宽受限）,无统一标准 | 半双工网络 | 推进,机动性,有限的互操作性 |
| 网络部署 | 二维密集网络,大部分为静态节点,可为基础设施 | 三维稀疏网络,可有多移动节点,完全自组织 | 物理层及网络设计 | 自主性 |
| 卫星导航信号 | 有 | 无 | 定位及时钟同步困难 | 定位及导航 |
| 信息传播速度/ （m·s-1） | 3×108（光速） | 1500 （声速, 随空间变化,随时间起伏） | 高时延通信协议 | 指挥及控制存在反馈延迟 |
| 信号起伏 | 中断模型已知 | 中断模型未知 | 目标检测概率低、虚警率高,低码率及不可靠通信 | 自主性,有限的协作性 |
| 多径 | 微秒级 | 毫秒或秒级 |
| 噪声 | 电噪声,非动态 | 环境噪声,高动态 |
| 频率/带宽 | 高 | 低 |
| 比特率 | Mbps | <15 kbps（水声） |
| 成本 | 便于部署多智能体网络（节点多为低成本） | 网络设备及海上部署和作业昂贵 | 算法的有效性及宽容性 | 算法的有效性及宽容性 |
), ArticleFig(id=1241718538042405681, tenantId=1146029695717560320, journalId=1146032081894723586, articleId=1241718237122065010, language=CN, label=表1, caption=
潜水器组网对比及面临的主要问题
, figureFileSmall=null, figureFileBig=null, tableContent=
| 项目 | 陆上/空中无人系统组网 | 潜水器组网 | 信号处理面临的挑战 | 平台自身面临的挑战 |
| 能源 | 燃油、电池等 | 电池,充电困难 | 功耗与性能的权衡 | 续航能力,低速 |
| 硬件 | 结构仅受形状和材料优化设计制约 | 结构受制于压力和耐腐蚀性,通信和信号处理受限（如压电换能器带宽受限）,无统一标准 | 半双工网络 | 推进,机动性,有限的互操作性 |
| 网络部署 | 二维密集网络,大部分为静态节点,可为基础设施 | 三维稀疏网络,可有多移动节点,完全自组织 | 物理层及网络设计 | 自主性 |
| 卫星导航信号 | 有 | 无 | 定位及时钟同步困难 | 定位及导航 |
| 信息传播速度/ （m·s-1） | 3×108（光速） | 1500 （声速, 随空间变化,随时间起伏） | 高时延通信协议 | 指挥及控制存在反馈延迟 |
| 信号起伏 | 中断模型已知 | 中断模型未知 | 目标检测概率低、虚警率高,低码率及不可靠通信 | 自主性,有限的协作性 |
| 多径 | 微秒级 | 毫秒或秒级 |
| 噪声 | 电噪声,非动态 | 环境噪声,高动态 |
| 频率/带宽 | 高 | 低 |
| 比特率 | Mbps | <15 kbps（水声） |
| 成本 | 便于部署多智能体网络（节点多为低成本） | 网络设备及海上部署和作业昂贵 | 算法的有效性及宽容性 | 算法的有效性及宽容性 |
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