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Efficiency Evaluation Method for Underwater Vehicle Cooperative Search Based on Situation Simulation and Monte Carlo

An underwater vehicle and performance evaluation technology, which is applied to instruments, program control, testing/monitoring control systems, etc., can solve the problems of insufficient evaluation methods of search strategy and task execution effect, and achieve the effect of strong objectivity and comprehensiveness.

Active Publication Date: 2022-03-22
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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  • Efficiency Evaluation Method for Underwater Vehicle Cooperative Search Based on Situation Simulation and Monte Carlo
  • Efficiency Evaluation Method for Underwater Vehicle Cooperative Search Based on Situation Simulation and Monte Carlo
  • Efficiency Evaluation Method for Underwater Vehicle Cooperative Search 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 course 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 s...

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Abstract

The invention relates to a method for evaluating the collaborative search efficiency of underwater vehicles based on situation simulation and Monte Carlo, and belongs to the technical field of collaborative application research of underwater vehicles. It includes the following steps: 1. Preprocessing the search sea area; 2. Establishing a three-dimensional sonar viewshed model; 3. Establishing a search target model; 4. Simulating the search process in three-dimensional space according to the search strategy; 6. The ability of sonar to detect and identify targets in the current coverage space; 7. Perform multiple situation simulations, calculate the number of targets encountered and identified during each search process, and pass data processing Obtain the collaborative search probability, which represents the search performance. The method of the invention solves the problem of quantifying the search probability in three-dimensional space through situation simulation and Monte Carlo, and can be used to evaluate the task execution effect of the underwater vehicle cooperative system under the established search strategy, compare different search strategies, and provide solutions for formulating plans. refer to.

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 Patents(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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