基于到达频率的自主海洋航行器状态估计与轨迹优化导航方法

王思甜; 郑华荣; 李建龙; 徐文

doi:10.1631/FITEE.2500235

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基于到达频率的自主海洋航行器状态估计与轨迹优化导航方法

常规文章 | Updated：2025-11-18

- 基于到达频率的自主海洋航行器状态估计与轨迹优化导航方法
  Enhanced Publication
- Frequency of arrival-based state estimation and trajectory optimization for the navigation of autonomous marine vehicles
- “在船舶导航领域，本文提出了一种基于USV轨迹优化的运动AUV状态估计方法。创新之处在于通过Cramér-Rao下限（CRLB）和几何约束，基于可观测性分析的定制成本函数，为解决AUV跟踪问题提供了解决方案。”
- Frontiers of Information Technology & Electronic Engineering 2025年26卷第10期页码：2000-2015
- Affiliations：
  
  1.College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China
  2.Ocean College, Zhejiang University, Zhoushan 316021, China
  3.Institute of Deep-sea Science and Engineering, Chinese Academy of Sciences, Sanya 572000, China
- Author bio：
  
  ‡ Corresponding author
- Funds：
  
  National Natural Science Foundation of China(42227901;62473332)
- DOI：10.1631/FITEE.2500235
  中图分类号： U675.6;TP242
- 收稿：2025-04-12，
  
  修回：2025-08-22，
  
  纸质出版：2025-10
- Accepted：
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王思甜, 郑华荣, 李建龙, 等. 基于到达频率的自主海洋航行器状态估计与轨迹优化导航方法[J]. Frontiers of Information Technology & Electronic Engineering, 2025,26(10):2000-2015.

Sitian WANG, Huarong ZHENG, Jianlong LI, et al. Frequency of arrival-based state estimation and trajectory optimization for the navigation of autonomous marine vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2025, 26(10): 2000-2015.
王思甜, 郑华荣, 李建龙, 等. 基于到达频率的自主海洋航行器状态估计与轨迹优化导航方法[J]. Frontiers of Information Technology & Electronic Engineering, 2025,26(10):2000-2015. DOI： 10.1631/FITEE.2500235.

Sitian WANG, Huarong ZHENG, Jianlong LI, et al. Frequency of arrival-based state estimation and trajectory optimization for the navigation of autonomous marine vehicles[J]. Frontiers of Information Technology & Electronic Engineering, 2025, 26(10): 2000-2015. DOI： 10.1631/FITEE.2500235.

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基于到达频率的自主海洋航行器状态估计与轨迹优化导航方法

Frequency of arrival-based state estimation and trajectory optimization for the navigation of autonomous marine vehicles

DOI：10.1631/FITEE.2500235