Underwater vehicle collaborative search efficiency evaluation method based on situation simulation and Monte Carlo

An underwater vehicle and efficiency evaluation technology, which is applied in the direction of instruments, electrical testing/monitoring, control/regulation systems, etc., can solve the problems of insufficient evaluation methods for the execution of search strategy tasks

Active Publication Date: 2021-05-28
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0006] In order to solve the problem of insufficient evaluation methods for the execution effect of search strategy tasks in three-dimensional space in the existing research on cooperative tasks of underwater vehicles, the present invention provides a method for evaluating the effectiveness of cooperative search of underwater vehicles based on situation simulation and Monte Carlo

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  • Underwater vehicle collaborative search efficiency evaluation method based on situation simulation and Monte Carlo
  • Underwater vehicle collaborative search efficiency evaluation method based on situation simulation and Monte Carlo
  • Underwater vehicle collaborative search efficiency evaluation method based on situation simulation and Monte Carlo

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Embodiment Construction

[0057] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below through specific implementation methods and in conjunction with the accompanying drawings. figure 1 It is a flow chart of the technical implementation of the present invention.

[0058] A kind of cooperative search efficiency evaluation method for underwater vehicles based on situation simulation and Monte Carlo proposed by the present invention comprises the following steps:

[0059] Step 1: Preprocessing the search sea area, including the following steps:

[0060] Step 1.1: Take the starting point of the route of the underwater vehicle coordination system as the origin, take the initial heading as the positive direction of the X-axis, and establish a Cartesian coordinate system according to the right-hand rule;

[0061] Step 1.2: Calculate the effective coverage width of each underwater vehicle equipped with ...

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Abstract

The invention relates to an underwater vehicle collaborative search efficiency evaluation method based on situation simulation and Monte Carlo, and belongs to the technical field of underwater vehicle collaborative application research. The method comprises the following steps: 1, preprocessing a search sea area; 2, establishing a three-dimensional sonar vision field model; 3, establishing a search target model; 4, simulating a search process in a three-dimensional space according to a search strategy; 5, in the three-dimensional space, determining whether the target is located in the current sonar coverage area or not; 6, calculating the capability of sonar detection and identification of the target in the current coverage space; and 7, performing situation simulation for many times, calculating the number of encountered and identified targets in each search process, and obtaining a collaborative search probability through data processing to represent the search efficiency. According to the method, the quantization problem of the search probability in a three-dimensional space is solved through situation simulation and Monte Carlo, the method can be used for evaluating the task execution effect of the underwater vehicle cooperative system under a set search strategy, different search strategies are compared, and reference is provided for scheme formulation.

Description

technical field [0001] The invention belongs to the technical field of collaborative application research of underwater vehicles, and in particular relates to a collaborative search efficiency evaluation method for underwater vehicles based on situation simulation and Monte Carlo. Background technique [0002] Underwater vehicles have the advantages of high maneuverability, high-depth operations, and autonomous navigation, and are widely used in ocean search tasks. With the maturity of underwater vehicle technology, collaborative search of multiple underwater vehicles will become the main development trend in the future. Facing the increasing search area, how to choose a suitable search strategy and measure the degree of task execution is an important issue worth considering. Effectiveness is an effective evaluation index, and its value represents the task execution ability of the system under the established search strategy. Its evaluation and analysis have important pract...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B23/02
CPCG05B23/0243G05B2219/24065
Inventor 梁庆卫张鑫宋保维潘光严卫生刘明雍张克涵
Owner NORTHWESTERN POLYTECHNICAL UNIV
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