29results about How to "Improve combat effectiveness" patented technology

The invention provides a ship dynamic stability modeling method and system based on multi-external force coupling, and the method comprises the steps: building a short-peak wave model based on wind wave characteristic parameters under different sea conditions and motion state parameters of a ship, and carrying out the calculation under ground coordinates to obtain a first wave surface equation; a first wave surface equation located in a ground coordinate system is converted into a ship body stable coordinate system through a coordinate and frequency conversion method, a second wave surface equation suitable for the surrounding environment of the ship is obtained, then a fluctuation pressure model caused by sea waves is established, the fluctuation pressure model is corrected through a Smith correction term method, and the ship body stable coordinate system is obtained. A multi-wave superposition fluctuation pressure model is obtained through a harmonic superposition analysis method; then a generalized disturbance force matrix is constructed based on a finite volume method, Archimedes restoring force, inertia hydrodynamic force and viscosity hydrodynamic force are calculated by adopting a specific calculation method, and then a ship motion model is established, so that the accuracy of the model is effectively improved, and the dynamic behavior of the ship can be more accurately predicted under the complex sea condition.

The invention provides a deep reinforcement learning air combat decision-making method based on situation prediction, belongs to the technical field, and solves the technical problem that an unmanned aerial vehicle cannot realize autonomous decision-making and environment self-adaption in a complex air combat environment. According to the technical scheme, modeling is carried out through kinematics and dynamics characteristics of the unmanned aerial vehicle to adapt to the actual flight state; establishing a deep enhanced confrontation environment for unmanned aerial vehicle confrontation training; dynamically evaluating the state of the enemy unmanned aerial vehicle by using an LSTM prediction algorithm, and quickly obtaining the state of the enemy unmanned aerial vehicle at the next moment; and taking reward distribution as input of a decision maker, and inferring enemy unmanned aerial vehicle situation actions in combination with a prediction state and a reward result to realize tracking strike. According to the method, the advantage of machine intelligent calculation and human experience judgment are combined, the intention recognition accuracy of the enemy unmanned aerial vehicle is improved in a complex and uncertain environment, and the decision-making ability and tactical advantages of our unmanned aerial vehicle are enhanced.

The invention belongs to the technical field of unmanned aerial vehicle attack and defense, and discloses an intelligent defense and attack control system for an unmanned aerial vehicle. The method comprises the following steps: acquiring environment sensing data of an unmanned aerial vehicle, wherein the environment sensing data comprises state data of the unmanned aerial vehicle and image data of a surrounding environment; preprocessing the image data of the surrounding environment to obtain model input image data; performing target detection on the model input image data by using a variant Poolform algorithm to obtain comprehensive information of a target object; according to the state data of the unmanned aerial vehicle and the comprehensive information of the target object, solving an optimal attack defense strategy by using a perception integrated attack algorithm; the optimal attack defense strategy is sent to an unmanned aerial vehicle execution terminal, and the unmanned aerial vehicle is controlled to execute the optimal attack defense strategy; the optimal attack and defense strategy can be dynamically generated according to the real-time change of the environment situation, and the survivability and the attack efficiency of the unmanned aerial vehicle in the confrontation environment are remarkably improved.

The invention provides an intelligent game role dynamic extension and cooperative combat method for a virtual battlefield, and relates to the technical field of intelligent games, the method adopts an UpDeT module to dynamically increase or reduce the number or type of agents according to the real-time battlefield condition and strategy requirements of the virtual battlefield; state features and action features corresponding to different agent types of different scenes are converted to a unified feature space through a feature mapping function; based on a self-attention mechanism of Transform, carrying out fusion processing on the feature representation of each agent to obtain a fusion feature; generating a cooperative combat decision according to the fusion feature and the communication information; therefore, the problems of fixed roles, poor expansibility and difficulty in strategy migration in the prior art are solved, the generalization ability of the intelligent game strategy is improved, and the intelligent game level is improved.

The invention discloses a target code generation method based on a template engine. The method comprises the following steps: presetting a template file corresponding to an item; loading a template file through a template engine, wherein the template file is generated according to the repetitive code of the project; combining the data model corresponding to the project with the template file to generate a target code; the template file comprises a mark used for indicating the template engine to insert dynamic data in the repetitive code, and the data model comprises the dynamic data required by the template file. Through the preset template file, the workload of repeatedly writing codes is reduced, and the development efficiency is improved.

The invention provides a short-peak wave dynamic response analysis method and system based on a finite volume method, and the method comprises the steps: building a short-peak wave model based on the wind wave characteristic parameters under different sea conditions and the motion state parameters of a ship, and carrying out the calculation under ground coordinates to obtain a first wave surface equation; a first wave surface equation located in a ground coordinate system is converted into a ship body stable coordinate system through a coordinate and frequency conversion method, a second wave surface equation suitable for the surrounding environment of the ship is obtained, then a fluctuation pressure model caused by sea waves is established, the fluctuation pressure model is corrected through a Smith correction term method, and the ship body stable coordinate system is obtained. A multi-wave superposition fluctuation pressure model is obtained through a harmonic superposition analysis method; finally, the generalized disturbing force is constructed based on a finite volume method, the dynamic response of the ship in stormy waves can be predicted more accurately, modeling and simulation can be effectively conducted on the wave force borne by a complex ship body, and the calculation precision is effectively improved.

The invention discloses a method, a device and equipment for establishing a model for predicting job matching of professional soldiers, and belongs to the technical field of data processing. The method comprises the following steps of: analyzing and classifying work tasks, job responsibilities and professional expertise to obtain basic capabilities corresponding to personnel types, and determining a corresponding relationship between job types and personnel types; obtaining the weight of the ability quality in the quality type, selecting the actual scores of 39 pieces of ability quality of the front career soldiers in different personnel types, carrying out weighted average calculation through the weight corresponding to the job portrait model to obtain the standard scores of the 39 pieces of ability quality, and integrating to obtain a job matching model for predicting the career soldiers. According to the method, multi-dimensional psychological evaluation and electroencephalogram evaluation are carried out on the to-be-matched career soldiers to obtain actual measurement scores of 39 ability qualities of the career soldiers, calculation is carried out by using a matching algorithm, a best matching range recommendation result is output, and the method has important application value in the technical field of human resource management.

The utility model discloses a horizontal infusion device for battlefield rescue, and belongs to the technical field of medical instruments. The device comprises a peristaltic pump, an infusion alarm, a timer, a battery switch box and a vacuum infusion tube, the peristaltic pump and the infusion alarm are both arranged on the vacuum infusion tube, and the peristaltic pump is electrically connected with the battery switch box; and a timer is arranged between the peristaltic pump and the battery switch box. The horizontal infusion device for battlefield rescue has the advantages of being free of an infusion support, flexible and convenient to use, capable of stably working for a long time, automatically loading pressure and monitoring the infusion state in real time, small in size, light in weight, convenient to carry, not prone to damage, suitable for pre-hospital rescue, battlefield and sick and wounded transferring or infusion of a large number of sick and wounded, and high in practicability. The utility model aims to improve the convenience, flexibility and concealment of battlefield rescue, reduce manpower and material resources and improve the survivability and fighting capacity of troops.

The invention discloses an air combat deep reinforcement learning hierarchical algorithm based on a time scale separation theory, which combines long-period decision and short-period control, and realizes unmanned aerial vehicle autonomous air combat maneuver decision optimization through a two-stage training strategy. Firstly, the state quantity of the unmanned aerial vehicle is separated into a long-period state quantity and a short-period state quantity according to the time scale, the long-period state quantity comprises the position and the relative speed, and the short-period state quantity comprises the roll angle speed, the pitch angle speed, the yaw angle speed and the like. The long-period decision is optimized through a PPO algorithm, and expected values of short-period control, such as an expected roll angle, a pitch angle and a speed, are output; and the short-period control realizes accurate adjustment of the attitude of the unmanned aerial vehicle through a PID controller. The algorithm adopts two-stage training, in the first stage, convergence is accelerated through a single-step reward strategy, and in the second stage, combat performance is optimized through a final reward. The maneuverability and autonomous decision-making ability of the unmanned aerial vehicle in a complex air combat environment are improved, and the method has the characteristics of quick response and efficient learning and is widely applied to autonomous air combat tasks of the unmanned aerial vehicle.

The invention discloses an unmanned cluster combat network global efficiency analysis method and device, a medium and a product, and relates to the technical field of unmanned clusters. The method comprises the following steps: forming a relation matrix based on an intra-layer connection relation and an inter-layer connection relation among nodes of a sensing class, a decision class, an influence class and a target class in an unmanned cluster combat network architecture; determining a path length upper bound based on the number of the sensing type nodes and the number of the decision type nodes; determining the shortest path length of an effective combat closed loop starting from the target class node based on the number of the sensing class nodes and the number of the decision class nodes; determining the number of effective combat closed loops passing through the target class node and corresponding to the shortest path length based on the relation matrix; and under the constraint of the upper bound of the path length, determining the global efficiency of the unmanned cluster combat network based on the shortest path length and the number of effective combat closed loops. According to the method, the global efficiency of the unmanned cluster combat network can be analyzed, and a data basis is provided for improving the overall combat effectiveness of the unmanned cluster.

The invention provides a multi-strategy improved distributed cross-domain cooperative task allocation optimization method, and belongs to the technical field of planning control. The method comprises the following steps: firstly, constructing a target allocation optimization model based on three types of target functions of comprehensive efficiency, time cost and resource utilization rate; a control distribution optimization model is constructed based on three objective functions of sensor detection capability, sending link connectivity and return link connectivity; and then combining the two models and corresponding constraint conditions to construct a cross-domain collaborative task allocation optimization model. And finally, carrying out distributed cross-domain collaborative task optimization allocation calculation by adopting a multi-strategy improved particle swarm optimization algorithm. According to the multi-strategy improved distributed cross-domain cooperative task allocation optimization method, the overall combat effectiveness is improved, the concealment and the collaboration among combat nodes are enhanced, powerful technical support is provided for cross-domain cooperative combat, and the task execution efficiency and the resource utilization benefit can be effectively improved.

The application discloses a kind of dual-machine formation 2v2 cooperative air combat auxiliary decision generation method, which realizes the efficiency promotion of dual-machine cooperative combat by the dual optimization of tactics and maneuver, and the dynamic analysis of air battlefield situation is realized by cooperative tactical decision-making, and the tactical formulation is carried out according to the situation relationship of enemy and our side, and then the combat target is selected;According to the tactics and the distribution of the combat target tactical role;Based on the target maneuver action library, the target prediction state is calculated, and then the final target prediction state is selected;Then the final target prediction state and the current state of our aircraft are input, the control amount of our aircraft in continuous domain is optimized by improved EDA algorithm, and the optimal flight trajectory of our aircraft is obtained.

The invention belongs to the technical field of guided projectile trajectory optimization, and particularly relates to a trajectory design method suitable for a radar terminal guided projectile, which is suitable for a projectile with high initial speed and small overload capacity and carrying a radar seeker to realize large-angle-of-fall attack on a near-range target and is used for providing a good trajectory condition for the radar seeker to capture the target. Meanwhile, the falling angle is increased to improve the damage performance. According to the method, an anti-slope attack is taken as a guiding idea, the overload capacity of the projectile, the pitch angle during middle-terminal guidance shift change and the falling angle during target hitting are comprehensively considered, a matlab GPOPS optimization tool box is taken as a design tool to carry out optimization design on the minimum range trajectory, the minimum range capacity of the terminal guidance projectile can be effectively improved, the attack range of the projectile can be widened, and the target attack rate of the terminal guidance projectile can be improved. The problems that the tail end falling angle is small and the capturing condition of a radar seeker is unfavorable due to a conventional low-stretching trajectory are solved, the combat effectiveness of a weapon system is powerfully improved, a reference is provided for trajectory optimization design of similar terminal guided projectiles, and the method has a wide application space.

The invention provides a sequential high-dynamic aircraft cooperation method and system and a storage medium. The method is used for cooperative control of the sequential launching cooperative projectile group. The cannonballs in the sequential launching cooperative projectile group have navigation and trajectory correction capabilities, and trajectory data are pre-installed. The method comprises the following steps: launching a sequential launching cooperative projectile group by adopting a sequential launching mode; dividing the bullets of the bullet group into front bullets and rear bullets according to a sequential launching sequence; when a target is found, the front projectile carries out data calculation and trajectory correction, and target information and trajectory correction are sent to a projectile group network; the rear projectile performs data calculation and trajectory correction by using navigation positioning information, the trajectory correction amount of the front projectile and target information in combination with the flight state of the rear projectile; after the front bomb hits the target or is intercepted and damaged, the rear bomb meeting the front bomb condition is converted into the front bomb in the cooperative bomb group; the forward bullet condition is that an image seeker is arranged. By means of the device, the problems that the bullet group hitting precision is not high, and the device cost is too high can be solved.

The invention discloses a dynamic game-based immediacy decision-making method, which specifically comprises the following steps of: establishing a combat action dynamic game selection model, and determining a red-blue action set of the combat action selection model; determining a battlefield state transition probability of the battlefield action selection model; obtaining a red-blue confrontation strategy according to the red-blue action set and the state transition probability; constructing a state utility function in the battle action selection model; and determining the optimal strategy of the red and blue parties through the zero-sum game. Compared with the prior art, the method not only can dynamically evaluate the advantages and disadvantages of different tactical selections, but also can preferably select an appropriate action sequence and select an optimal action decision in a complex game environment of friend or foe in combination with intelligence update and battlefield feedback.

The invention discloses a repeatable fuze type precise guidance assembly and system and a use method, and belongs to the technical field of communication guidance and flight control. The assembly mainly comprises a shell, a radio frequency antenna, a satellite antenna, a missile-borne controller, a rudder system, a fairing, a folding rotor wing, an explosive rope, an explosive bolt, a compression spring, a slewing bearing type speed reducer, a battery, a rotating disc and a motor. Wherein the radio frequency antenna and the rudder system are both installed on the shell, the satellite antenna is installed on the wall face of the shell, the missile-borne controller and the battery are installed in the shell, the inner ring of the slewing bearing type speed reducer is connected with the battery, and the outer ring of the slewing bearing type speed reducer is connected with the rotating disc; the folding rotor wings are fixed on the turntable, an output shaft of the motor is connected with the turntable, and the compression spring is fixed at the lower end of the motor. The mode that an original fuse is not replaced and a fixed rotor wing is additionally arranged is adopted, and the problems of storage, destruction, maintenance and repeated use of the original fuse are solved.

A simulated combat resource management system and method based on a multi-agent system, comprising a multi-agent system layer, an environment simulation layer and a management decision layer; a reconnaissance agent collects multi-source battlefield environment data through multiple sensors, and a multi-source data fusion module generates battlefield fusion data from the multi-source battlefield environment data acquired by the reconnaissance agent; a battlefield situation analysis module performs battlefield situation analysis based on the battlefield fusion data, a decision suggestion module is used to generate a multi-level decision tree based on the battlefield situation analysis result and send it to the command agent to generate a simulated combat resource management plan, and the firepower agent and the support agent execute the simulated combat resource management plan. The present invention realizes real-time dynamic management of combat resources and improves resource utilization efficiency through the collaboration and autonomy of the multi-agent system, multi-source data fusion and multi-level decision trees.

The invention discloses an anti-load training method based on virtual reality, and relates to the field of virtual reality training.The anti-load training method comprises a main body support, a mainframe box and a seat, a guide rail vertically arranged is fixedly arranged on the left side of the upper end of the main body support, and the guide rail is slidably sleeved with a first rectangular frame and a second rectangular frame; a neck tension sensor is arranged on the right side of the first rectangular frame, a waist tension sensor is arranged on the right side of the second rectangular frame, a display screen is arranged between the first rectangular frame and the second rectangular frame, and a fixing frame is fixedly arranged on the front side of the guide rail. Through virtual reality flight training, physiological data of a pilot can be detected, the influence of a load on the pilot can be simulated according to changes of the physiological data, special combat training of flight personnel in our army can be served in a scientific and modern mode, the fighting capacity can be greatly improved, and development of a high-performance fighter can be further promoted; the new-quality combat ability is improved, the situation that accidents cause harm to pilots is avoided, and resource waste is avoided.

The application relates to a kind of unmanned aerial vehicle multi-constraint path planning methods based on Bezier curve, comprising: modeling multiple constraint conditions in the cruising process;The control points of Bezier path curve are determined by process constraint conditions and terminal demand;The solution of the to-be-determined control points in the control points is converted into a nonlinear constraint optimization problem, and the specific coordinates of the control points are iteratively solved by a sequential quadratic programming method, and a complete Bezier path curve is generated according to the control points obtained by solving.The application realizes the path planning of near-earth cruising flight throughout the multi-unmanned aerial vehicle confrontation formation target, has the characteristics of strictly meeting multiple constraint conditions, simple and easy to implement, and is suitable for multi-to-multi confrontation scene of powered unmanned aerial vehicle.

The invention discloses a cooperative guidance method based on distributed multi-target model predictive control, which considers the cooperative guidance problem of strike time and angle of a multi-agent system with a plurality of static interference areas, and can realize the cooperative guidance of strike time and angle of the multi-agent system under the constraint conditions of meeting obstacle avoidance and maneuverability. It is guaranteed that the leading head keeps a target locking state in the target-seeking stage, and the aim that multiple agents hit the target at the same time according to the expected attack angle is achieved. In addition, the adopted distributed algorithm can meet the online real-time requirement, so that the combat effectiveness is effectively improved.

The invention provides a ship storm load and dynamic response analysis method and system under a short-peak wave sea condition, and the method comprises the steps: building a long-peak wave model based on storm characteristic parameters under different sea conditions and motion state parameters of a ship, and carrying out the calculation under ground coordinates to obtain a first wave surface equation; a first wave surface equation located in a ground coordinate system is converted into a ship body stable coordinate system through a coordinate and frequency conversion method, a second wave surface equation suitable for the surrounding environment of the ship is obtained, then a fluctuation pressure model caused by sea waves is established, the fluctuation pressure model is corrected through an exponential decay method, and the ship body stable coordinate system is obtained. A multi-wave superposition fluctuation pressure model is obtained through a coordinate and frequency conversion method and a harmonic superposition analysis method; finally, the disturbance force and the disturbance torque are calculated through a specific calculation method, the dynamic response of a ship in stormy waves can be predicted more accurately, the take-off and landing safety of a ship-borne helicopter under the high sea condition can be evaluated more accurately, and the calculation precision is effectively improved.

The invention belongs to the technical field of ejection seats, and provides a rocket engine ejection direction adjusting mechanism for a light ejection seat, which comprises an active adjusting mechanism which is arranged on a side plate of the seat and is provided with an adjusting main body, a sliding shaft, a rotating shaft, a pull rod and a limiting piece, and the side plate is provided with a round hole and a waist-shaped hole; the sliding shaft and the rotating shaft are in clearance fit with the kidney-shaped hole and the round hole respectively, the two ends of the sliding shaft and the rotating shaft are connected with the rocket engine and the adjusting body respectively, the limiting piece is arranged on the adjusting body, and the adjusting body is driven to rotate through the pull rod and positioned through the limiting piece, so that the injection direction of the rocket engine is changed. The driven adjusting mechanism is installed on the opposite side plates of the seat, provided with a sliding shaft and a rotating shaft and matched with the driving adjusting mechanism to act. The requirement that the light ejection seat can still obtain the optimal air posture when facing pilots in a large-span body weight range is met, and the function of changing the direction of a nozzle of a rocket engine is achieved.

The invention discloses a platform system suitable for reloading air-drop. According to the platform system, a platform is used for bearing an air-dropped object, a mooring device is used for firmly mooring the air-dropped object on the platform, a buffer device is arranged between the air-dropped object and the platform, landing impact borne by the air-dropped object is reduced, the platform is fixed to a central guide rail of an airplane through a fixed traction lock, and movement of the platform in the front-back direction and the left-right direction is limited. And the platform is released when the traction umbrella works. According to the invention, the platform design problem of a large-tonnage heavy-loading air-drop system is solved, and the functions of assembling and dropping large-mass goods are realized.

The application relates to the field of radar and fire control technology, and particularly provides a performance enhancement method of an adaptive fire control system based on a phased array radar. A closed-loop feedback control system is constructed, multi-channel echo signals of the phased array radar are input into a radar signal adaptive processing module in real time, target motion state estimation and clutter spatial spectrum analysis are combined, and beam forming weights and pulse repetition frequencies are dynamically adjusted; target information processed is cooperatively optimized by a target fusion and prediction module and a fire control instruction generation and feedback module, real-time pointing correction of a fire unit and adaptive matching of firing parameters are realized. The application realizes deep cooperation and closed-loop enhancement between radar detection and fire control, improves tracking stability, hitting probability and response real-time performance of the system in a multi-target and strong interference environment, and provides reliable technical support for accurate attack in a complex environment.

The utility model relates to a kind of gliding guidance aircrafts suitable for multiple air drop platform, including hanger and glider, the upper end of hanger is equipped with upper connector, the lower end of hanger is equipped with lower connector and restraint, the upper end of glider is equipped with multiple lifting lugs, restraint is symmetrically arranged in the both sides of hanger, the both sides of glider are symmetrically articulated with spring wing, lifting lug is equipped on spring wing, drive mechanism is equipped in hanger, the output end of drive mechanism is connected with bolt and restraint, bolt is used to connect or separate lower connector and lifting lug, restraint is used to connect or release lifting lug. By connecting glider with hanger, the design constraint of carrier storebracket scheme to glider is simplified or even eliminated. In order to adapt to different carrier storebracket, only need to adjust the connection relationship of hanger and carrier storebracket, and glider is not affected, greatly reduce the difficulty of system modification design, use adjustment, significantly shorten modification design cycle, increase the application range of gliding guidance aircraft.

The invention discloses a tactical flight simulation training system, which belongs to the field of flight simulation and comprises a docking module and a training module; the docking module is used for docking and adjusting various flight simulators, comprises a connection unit, a modular flight unit and an integrated unit, and the flight simulation data of the flight simulator is obtained in real time through the simulation application unit, and the associated units of each simulation application unit are determined through the connection unit, and the flight simulation data is processed according to each associated unit to obtain the associated scene data of each simulation application unit, and the associated scene data is sent to the corresponding simulation application unit, and the simulation application unit dynamically adjusts the scene of the flight simulator according to the associated scene data; and the integrated display image is displayed in real time through the integrated unit; the training module is used for tactical task training, setting tactical tasks, and the flight personnel of each flight simulator perform tactical training according to the tactical tasks to obtain the training results of the tactical tasks.

The invention discloses a police equipment cabinet based on passive RFID technology, which comprises a cabinet body and a main control management system. The cabinet body is provided with a plurality of unit cabinets, each of which is provided with a circularly polarized antenna. The circularly polarized antenna in each unit cabinet comprises a pair of circularly polarized UHF antennas forming an antenna signal environment of upward and downward irradiation, and the pair of circularly polarized UHF antennas are respectively arranged at the top of the unit cabinet and the bottom of the unit cabinet. The main control management system comprises a main control center, a unit control center and a power supply device. The main control center comprises a main control processor and a human-computer interaction system, the unit control center comprises an embedded mainboard and underlying hardware, and the power supply device adopts a distribution box. The police equipment cabinet of the invention effectively solves the problems of missed reading and cross-reading of labels between cabinets, and poor face recognition effect.

The invention discloses a narrow pulse interference suppression method based on energy stability judgment and spectrum correlation, and the method comprises the steps: dividing radar intermediate frequency modulo data into a plurality of data intervals according to an amplitude continuous over-threshold criterion, and carrying out the narrow pulse suppression of the data intervals meeting the narrow pulse amplitude and width judgment criterion, a data interval which only meets amplitude and does not meet width judgment is divided into echo signal subintervals and interference signal subintervals, correlation coefficients of signal frequency spectrums of the echo signal subintervals and local signal frequency spectrums are calculated, each interference signal subinterval is traversed, correlation coefficients of the frequency spectrums and the sum of the signal frequency spectrums of the echo signal subintervals and the local signal frequency spectrums are calculated, and the frequency spectrums of the interference signal subintervals are calculated. And performing narrow pulse interference detection and suppression on the interference signal subintervals according to a correlation coefficient judgment criterion, and repeating the process until all data intervals are processed. According to the invention, detection and suppression of narrow pulse interference in a high signal-to-noise ratio echo background are realized, and the target detection performance of the radar in an interference environment is improved.

The invention relates to an underwater vehicle with a surface active microbubble drag reduction system, the underwater vehicle has a double-layer shell, the inner-layer shell is a structural layer homogeneous shell, the outer-layer shell is a porous shell with a dense porous breathable structure, a middle pressure layer is formed between the inner-layer shell and the porous shell, and the surface active microbubble drag reduction system is arranged between the middle pressure layer and the porous shell. Densely attached microbubbles can be generated on the surface of the porous shell, and the microbubbles have the effect of reducing resistance in the running process of the underwater vehicle. The microbubbles are directly generated without depending on the head of the underwater vehicle, head noise in the sailing process can be reduced, reliable and stable work of head sonar is guaranteed while resistance is reduced, and the combat effectiveness of the underwater vehicle is improved.