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A multi-AUV cooperative simultaneous guidance method based on information maximization

A guidance law and mutual communication technology, applied in the field of cooperative guidance where multiple AUVs attack the same target at the same time, can solve problems such as difficulty in ensuring centralized communication of multiple AUVs, influence of guidance effects, and weak communication capabilities

Active Publication Date: 2019-03-29
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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Problems solved by technology

[0006] To sum up, there are still three problems in the coordinated simultaneous guidance of multiple AUVs that maximize information: 1. External interference will cause AUVs to produce lateral speeds, which will have a certain impact on the guidance effect; 2. How to It is of great engineering significance to design a multi-AUV cooperative guidance method with real-time performance and maximum observation information
3. Due to problems such as weak communication capabilities in the actual underwater environment, it is difficult to ensure centralized communication between multiple AUVs. Therefore, it is of great practical significance to design distributed multi-AUV cooperative guidance

Method used

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  • A multi-AUV cooperative simultaneous guidance method based on information maximization
  • A multi-AUV cooperative simultaneous guidance method based on information maximization
  • A multi-AUV cooperative simultaneous guidance method based on information maximization

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Embodiment Construction

[0031] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0032] In this embodiment, four AUVs are used as research objects, wherein the initial positions of each AUV (x 1 (0),y 1 (0))=(100,100)(x 2 (0),y 2 (0))=(120,-80),(x 3 (0),y 3 (0))=(-80,-140), (x 4 (0),y 4 (0))=(-160,100), the initial heading angle is 0°, u 1 = u 2 = u 3 = u 4 = 1m / s, v 1 =v 2 =-0.2m / s,v 3 =v 4 = 0.2m / s.

[0033] Step 1: Establish multi-AUV horizontal plane kinematic equations:

[0034]

[0035] where (x i ,y i ) is the position coordinate of the i-th AUV in the world coordinate system, u i , v i and ψ i are the forward velocity, lateral velocity and heading angle of the i-th AUV in the body coordinate system; the relative azimuth between the i-th AUV and the target is

[0036]

[0037] where (x T ,y T ) is the po...

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Abstract

The invention provides a multi-AUV cooperative simultaneous guidance method based on information maximization. Aiming at the problem of time constraint and maximization of observation information in multi-AUV cooperative guidance, Considering the second-order nonholonomic characteristics of AUV, a cooperative guidance law based on optimal control is proposed, the performance index function consists of one-step sub-optimal Fisher information matrix (FIM) and the variance of range between AUV and target, which realizes the task of hitting target at the same time under the maximum observation information, and has good guidance performance.

Description

technical field [0001] The invention relates to the technical field of multi-AUV cooperative guidance, in particular to a cooperative guidance method for simultaneously attacking the same target by multiple AUVs based on information maximization. Background technique [0002] The rapid development of modern anti-missile systems has posed higher challenges to the penetration capabilities of active attack weapons (missiles, torpedoes, etc.), and the traditional single AUV strike has been difficult to meet the needs of modern warfare. Saturation attack in the form of "many-to-one" is an effective means to increase the probability of missile or torpedo hitting the target. Therefore, in order to break through layers of defense, it is necessary to study the saturation simultaneous attack in the form of "many-to-one". Theoretical research on cooperative guidance has profound military significance, and has gradually attracted the research interest of scholars at home and abroad. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/12
CPCG06F17/12
Inventor 崔荣鑫严卫生陈乐鹏李慧平张福斌高剑彭星光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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