AUV acoustic stealth situation evaluation method
A situation assessment and acoustic stealth technology, applied in the directions of sound wave re-radiation, utilization of re-radiation, measurement devices, etc., can solve AUV mission security threats and other issues, and achieve low complexity of the evaluation process, accurate evaluation, and high reliability Effect
Active Publication Date: 2018-09-28
HARBIN ENG UNIV
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Problems solved by technology
Since the various propellers and some equipment carried by AUVs will form noise sources during work, the current detection methods for AUVs are mainly underwater acoustic detection equipment, which poses a greater threat to the mission safety of AUVs, so real-time Reliable Situation Assessment Method for Acoustic Stealth
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[0054] The present invention will be further described below in conjunction with the accompanying drawings.
[0055] The invention discloses an AUV acoustic stealth situation assessment method aimed at a sonar detection environment, using sonar detection probability value, sonar threat ranking, sonar threat range, navigable range and a situation map based on detection probability as evaluation results.
[0056] combine figure 1 , is a schematic diagram of the overall flow of the AUV acoustic stealth situation evaluation simulation calculation method in the present invention, and the specific situation evaluation flow is as follows:
[0057] Step 1. Before the AUV is launched into the water to perform the mission, determine the scope of the mission target water area according to the starting point and target point of the route, and collect the detection sonar position, AUV and environmental acoustic information, sonar equipment information, etc. in the mission target water area...
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The invention discloses an AUV acoustic stealth situation evaluation method, and belongs to the technical field of situation evaluation. Various acoustic data, sonar equipment parameters, position information are used as input, a sonar detection performance model and a signal allowance model are established, a sonar threat virtual obstacle is constructed according to the task hiding requirement level, a plurality of types of detection probabilities are calculated through a sonar equation and a " KoutofN " criterion, the navigation range of the AUV is determined based on the signal allowance SEmodel, and the detection probability value is represented by the gradual change in the navigation range to form a situation map. The situation evaluation system comprises global situation evaluationand real-time situation evaluation, the system takes the global situation evaluation result, the plurality of sonar detection probabilities, the AUV navigation range and the situation map as the output, the evaluation result is accurate, the reliability is high, and visualization is achieved, the stealth threat evaluation on the AUV route is achieved, and a hidden constraint condition is providedfor the planning system.
Description
technical field [0001] The invention belongs to the technical field of situation assessment, in particular to an AUV acoustic stealth situation assessment method in a sonar detection environment. Background technique [0002] With the development of intelligent underwater vehicle (AUV) technology, the application requirements of AUV in underwater operations are becoming more and more extensive, and intelligent behavior decision-making has become the development trend of future underwater robots. At present, AUV mainly relies on collecting real-time target status and environmental information such as terrain, obstacles, ocean currents, etc., and plans optimal behavior through optimization algorithms. This kind of behavior decision-making system lacks consideration of situational factors, and it is usually difficult to meet the needs of the overall task goal. Therefore, in order to achieve a higher level of intelligent autonomous decision-making, the decision-making system al...
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IPC IPC(8): G01S15/88G01S15/52G01S15/04
CPCG01S15/04G01S15/523G01S15/88
Inventor 孙玉山王力锋张国成程俊涵焦文龙冉祥瑞王子楷贾晨凯封飞翔
Owner HARBIN ENG UNIV