The application provides an
underwater unmanned underwater vehicle formation dynamic area search
system and relates to the field of
unmanned underwater vehicle cooperative operation, and comprises the following steps: generating a virtual marine environment according to
seabed depth information and land obstacle distribution information; arranging virtual particles in a preset search area to form a
gravitational field, and giving the virtual particles an initial
mass; constructing a detection pressure field according to the detection activities of the
unmanned underwater vehicle formation, determining the probability distribution of the target appearance position based on the reverse distribution of the detection pressure field, and generating a counter target according to the probability distribution; dynamically updating the
mass value of the virtual particles according to the detection coverage range of the unmanned
underwater vehicle formation; and calculating the gravity and repulsion that each unmanned
underwater vehicle in the unmanned
underwater vehicle formation receives according to the
mass distribution of the virtual particles in the
gravitational field, and updating the position and heading of each unmanned
underwater vehicle based on the gravity and repulsion. The application improves the efficiency and authenticity of dynamic target search.