Multi-ship collaborative navigation formation configuration method based on underwater acoustic communication

Abstract

The invention discloses a multi-ship collaborative navigation formation configuration method based on underwater acoustic communication. The method comprises the steps as follows: a system state equation and a measurement equation are established according to a collaborative navigation system model; a nonlinear system Lee derivative observability theory is used for performing observability analysis on the equations; an underwater acoustic communication blind zone model is established according to wake flows generated by propellers at the tails of ships; a safety zone model is determined according to safety distances among the ships; and finally, an unmanned ship formation configuration design scheme is obtained on the basis that the observability, the wake flow communication blind zone and the safety distance zones among the ships are comprehensively considered. According to the method, collaborative navigation system formation configuration optimization design is realized, and the method is applicable to formation configuration designs under multi-ship collaborative navigation conditions. According to the method, the formation configuration layout obtained without consideration of wake flow influences has a high practical value on the collaborative navigation system formation configuration design.

Description

technical field [0001] The invention belongs to the technical field of navigation formation configuration, and in particular relates to a multi-boat cooperative navigation formation configuration method based on underwater acoustic communication. Background technique [0002] Coordinated operations include multiple boats cooperating and cooperating with each other to perform combat tasks and other combat methods. Multi-boat coordination is the use of multiple boats with relatively low cost and simple functions to complete a task that can only be accomplished by a complex system. A formation composed of multiple boats, as long as there is a sufficiently effective coordination strategy, can give full play to the advantages of comprehensive resources, and the combat effectiveness of the boat formation can be greater than the combat effectiveness of multiple boats fighting independently. Multi-boat formation is a control technology that maintains a certain formation while adapt...

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Problems solved by technology

[0003] The purpose of the embodiment of the present invention is to provide a multi-boat cooperative navigation formation configuration method based on underwater acoustic communication, which aims to solve the environmental factors that exist in the actual operation of the multi-boat formation, which will affect the speed, distance and course constraints of the boats The choice of factors, which in turn affects the design of the formation structure of the boat

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