Static environment construction method based on underwater equipment detection capability verification test

Abstract

The static environment construction method for underwater equipment detection capability verification tests of the present invention, under the premise of known underwater equipment navigation trajectory and underwater equipment detection capability, constructs the environment according to the pre-set underwater equipment navigation trajectory, detection capability and test duration, and determines the deployment range of static targets for verifying the underwater equipment detection capability; specifically including the following steps: based on the navigation trajectory of underwater equipment T; calculate the deployment range of equipment T at time t. T2 To t T1 Within a given time period, the range within which the underwater equipment T can detect the target is defined as the target deployment range within the environmental configuration. Based on the target deployment range, any location can be selected as the location for deploying the target M.

Description

Technical Field

[0001] This invention relates to the field of testing technology, and specifically to a static environment construction method for underwater equipment detection capability verification tests. Background Technology

[0002] In underwater equipment detection capability verification tests, the complex working mechanisms of underwater equipment and the dynamic process of target detection under highly complex underwater environmental conditions mean that the efficient implementation of the test and the achievement of the expected assessment objectives depend not only on the performance parameters of the equipment itself but also on the scientific design of the test methodology. Through scientific test design, an optimized and feasible test plan can be developed, allowing for the acquisition of sufficient, effective, and reliable data with as few tests as possible. For underwater equipment detection capability verification tests, environmental setup is a crucial aspect of the test methodology design. Environmental setup is essential for ensuring the smooth implementation of the test, involving the selection of the test area and the establishment of the blue-team target. The rationality and feasibility of the environmental setup directly impacts the feasibility of the test.

[0003] Currently, in terms of test scheme design, the literature "Methods for Designing Weapon Equipment Operational Tests" (Wang Zhisong, Hua Binbin, Wan Bo, et al. Methods for Designing Weapon Equipment Operational Tests [J]. Journal of Armored Forces, 2023(3):5.) mentions that research on test theory is still limited to the research on test index systems, test items, test procedures, test and measurement methods, and assessment and evaluation methods. For example, the literature "Research on Design Methods for Weapon Equipment Operational Test Subjects" (Ye Kang, Cao Yuhua, Qian Shaoyong. Research on Design Methods for Design Methods for Weapon Equipment Operational Test Subjects [J]. Engineering and Experiment, 2020, 60(4):4.) proposes a method for designing equipment test subjects based on capability domain and combat line, focusing on test item design. Existing invention patents related to test environment construction, namely "An Online Replanning Method for Unmanned Aerial Platform Missions Based on Environment Construction" (China, Publication No.: 115309186A, Publication Date: 2022-09-04, Application No.: 202211075194.2) and "A Mission Planning and Deduction Method for Unmanned Aerial Platforms Based on Environment Construction" (China, Publication No.: 115374644A, Publication Date: 2022-09-04, Application No.: 202211075195.7), convert and decompose the complex environmental construction task requirements into smaller tasks that can be executed by the unmanned aerial platform, and then perform mission planning for the unmanned aerial platform, such as flight path, payload, and link communication.

[0004] Therefore, compared with existing papers and patents, there is currently a lack of quantitative and standardized methods for constructing static environments for underwater equipment detection tests, which makes it impossible to effectively design detection environments. Thus, designing an effective detection environment has become an important part of test design.

[0005] To address the aforementioned issues, the inventors provide a static environment construction method for underwater equipment detection capability verification tests. This method enables quantitative and standardized environment construction during equipment detection capability tests. Based on the designed detection environment, it provides a basis for test implementation support, reduces test costs, optimizes test methods, thereby shortening the test cycle and improving test efficiency. Through the detection environment design model, acoustic detection environment parameters during the test can be effectively determined, including deployment range and departure time, thus improving the efficiency of test implementation support. Summary of the Invention

[0006] The purpose of this application is to provide a static environment construction method for underwater equipment detection capability verification tests.

[0007] To achieve the purpose of this invention, the following technical solution is adopted:

[0008] This invention discloses a static environment construction method for underwater equipment detection capability verification tests. An X and Y coordinate system is established, in which both the static target M and the underwater equipment T are located. The underwater equipment T navigates in a comb-like pattern within an "ABCD" mission area with a self-guiding sector radius r, and its initial position is (x0, y0). The method is based on a pre-set navigation trajectory, detection capability, and test duration T of the underwater equipment T. s Constructed in a detection environment, it meets the requirements of underwater equipment T at t T2 To t T1 A static target M is detected within a given time period; this includes the following steps:

[0009] (I) The movement trajectory of underwater equipment T

[0010] The underwater equipment T's navigation trajectory during the detection of static target M is a comb shape. The comb-shaped trajectory is parallel to the X-axis and Y-axis of the above coordinate system. Its motion trajectory on the X-axis is expressed by formula (1):

[0011]

[0012] Its trajectory along the Y-axis is represented by formula (2).

[0013]

[0014] Heading C T This is represented by formula (3).

[0015]

[0016] Where t A1 t A2 t A3 t A4 and t A5The starting times of underwater equipment T in the comb-shaped navigation path are the starting points of the first segment (1), the second segment (2), the third segment (3), the fourth segment (4), and the fifth segment (5), respectively, where t1 = t3 = t A2 -t A1 =t A4 -t A3 t2=t4=t A3 -t A2 =t A5 -t A4 , v is the speed of underwater equipment T, r is the radius of the homing sector of underwater equipment T (i.e., the detection radius), the distance traveled by underwater equipment T in time intervals t2 and t4 of the comb-shaped navigation path is r, and the distance traveled in time intervals t1 and t3 is s. t1, t2, t3, and t4 constitute one period T0 of the comb-shaped navigation, and the period T0 = t A5 -t A1 , k is rounded down to the nearest integer, which is the number of detection cycles minus 1, with T0 = t A5 -t A1 For one detection cycle, the motion is repeated periodically, C T For the course of the underwater equipment T, in the above formula, C T r, s, and v are all known;

[0017] (II) Detection Model of Underwater Equipment T

[0018] When the static target M(x) m ,y m ) point falls into underwater equipment T(x T ,y T Within the self-guiding sector area, that is, under the conditions defined by formula (4), the distance between the underwater equipment T and the static target M is less than or equal to the self-guiding sector radius r of the underwater equipment T, and at the same time, the line connecting the underwater equipment T and the static target M and the heading C of the underwater equipment T are... T When the included angle between them is less than or equal to the half-angle ф of the homing sector of underwater equipment T, underwater equipment T detects a static target M.

[0019]

[0020] (III) Constructing an underwater static target M in the detection environment

[0021] For static environment configuration, the equipment needs to meet the requirements in [t] T2 ,t T1 The detection of a target within a given time period can be represented as:

[0022]

[0023] by Substitute the values ​​into formula (6) respectively to calculate the value of k, and then calculate the values ​​of k and t. A1 t A2 t A3 t A4 Substitute v into formulas (1), (2), and (3) respectively, and then calculate the coordinates (x, y) of underwater equipment T based on the segmented trajectory of the underwater equipment T. T ,y T ) and C T Then x T ,y T and C T Substituting into formula (5),

[0024] In t T2 To t T1 Within the range, solve inequality (5). If inequality (5) has no solution, that is, under the current navigation trajectory of underwater equipment T, without constructing a detection environment, the detection capability of underwater equipment T cannot be verified, and the navigation trajectory of underwater equipment T needs to be replanned. If the above inequality has a solution, according to the obtained range of underwater static target M, during the test, an underwater static target M can be arbitrarily selected to set up a detection environment and conduct a test to verify the detection capability of underwater equipment T.

[0025] The present invention provides a static environment construction method based on underwater equipment detection capability verification test, wherein: inequality (5) is solved numerically using MATLAB.

[0026] The present invention provides a static environment construction method for underwater equipment detection capability verification test, wherein: if there are multiple solutions to the above inequality, within the range of all the above solutions, during the test implementation, an underwater static target M can be arbitrarily selected to set up the detection environment and conduct the underwater equipment T detection capability verification test.

[0027] The present invention provides a static environment construction method for underwater equipment detection capability verification test, wherein: the need to replan the navigation trajectory of underwater equipment T is to change the initial position (x0, y0) of underwater equipment T in order to verify the detection capability of underwater equipment T.

[0028] The static environment construction method of the present invention based on underwater equipment detection capability verification test has the following beneficial effects:

[0029] 1) The underwater equipment detection test environment construction uses quantitative calculation to quantify non-quantitative test implementation support issues, enabling quantitative and standardized environmental construction in underwater equipment detection capability assessment tests;

[0030] 2) Static environment construction determines the target deployment range, providing technical support for the test implementation, thereby shortening the test cycle and improving test efficiency;

[0031] 3) Based on the target deployment range provided by the environmental configuration, any location within the target deployment range can be selected, which will meet the requirements of the test method design and provide multiple references for test method designers and test implementers. Attached Figure Description

[0032] Figure 1 A diagram illustrating the detection of a target by underwater equipment.

[0033] Figure 2 A schematic diagram of the navigation trajectory of underwater equipment;

[0034] Figure 3 A schematic diagram of the static environment setup;

[0035] Figure 4 A simulation diagram was designed for the static detection environment. Detailed Implementation

[0036] The following describes specific implementation methods in conjunction with appendices. Figure 4 The present invention will be further described in detail. The present invention is based on a static environment construction method for underwater equipment detection capability verification tests, such as... Figures 1 to 3 As shown, an X and Y coordinate system is established, in which both the static target M and the underwater equipment T are located. The underwater equipment T navigates in a comb-like pattern within the "ABCD" mission area with a self-guiding sector radius of r, and its initial position is (x0, y0). Based on the pre-set navigation trajectory, detection capabilities, and test duration T of the underwater equipment T... s Constructed in a detection environment, it meets the requirements of underwater equipment T at t T2 To t T1 Detecting a static target M within a given time period; it includes the following steps:

[0037] (I) The movement trajectory of underwater equipment T

[0038] The underwater equipment T travels in a comb-shaped trajectory during the detection of a static target M. The trajectory is parallel to the X-axis and Y-axis of the coordinate system mentioned above. Its trajectory on the X-axis is expressed by formula (1):

[0039]

[0040] Its trajectory along the Y-axis is represented by formula (2).

[0041]

[0042] Heading C T This is represented by formula (3).

[0043]

[0044] Where t A1 t A2 t A3 t A4 and t A5 The starting times of underwater equipment T in the comb-shaped navigation path are the starting points of the first segment (1), the second segment (2), the third segment (3), the fourth segment (4), and the fifth segment (5), respectively, where t1 = t3 = t A2 -t A1 =t A4 -t A3 t2=t4=t A3 -t A2 =t A5 -t A4 , v is the speed of underwater equipment T, r is the radius of the homing sector of underwater equipment T (i.e., the detection radius), the distance traveled by underwater equipment T in time intervals t2 and t4 of the comb-shaped navigation path is r, and the distance traveled in time intervals t1 and t3 is s. t1, t2, t3, and t4 constitute one period T0 of the comb-shaped navigation, and the period T0 = t A5 -t A1 , k is rounded down to the nearest integer, which is the number of detection cycles minus 1, with T0 = t A5 -t A1 For one detection cycle, the motion is repeated periodically, C T For the course of the underwater equipment T, in the above formula, C T r, s, and v are all known;

[0045] (II) Detection Model of Underwater Equipment T

[0046] When the static target M(x) m ,y m ) point falls into underwater equipment T(x T ,y T Within the self-guiding sector area, that is, under the conditions defined by formula (4), the distance between the underwater equipment T and the static target M is less than or equal to the self-guiding sector radius r of the underwater equipment T, and at the same time, the line connecting the underwater equipment T and the static target M and the heading C of the underwater equipment T are... T When the included angle between them is less than or equal to the half-angle ф of the homing sector of underwater equipment T, underwater equipment T detects a static target M.

[0047]

[0048] (III) Constructing an underwater static target M in the detection environment

[0049] For static environment configuration, the equipment needs to meet the requirements in [t] T2 ,t T1 The detection of a target within a given time period can be represented as:

[0050]

[0051] by Substitute the values ​​into formula (6) respectively to calculate the value of k, and then calculate the values ​​of k and t. A1 t A2 t A3 t A4 Substitute v into formulas (1), (2), and (3) respectively, and then calculate the coordinates (x, y) of underwater equipment T based on the segmented trajectory of the underwater equipment T. T ,y T ) and C T Then x T ,y T and C T Substituting into formula (5),

[0052] In t T2 To t T1 Within the range, solve inequality (5). For the sake of simplification, translate the center point of the coordinate system to the initial position (x0, y0) of the underwater equipment T. That is, the initial position of the underwater equipment T in the experiment is (0, 0), and the cruising speed of the underwater equipment T is C. T The value is 10kN, the detection radius r is 150m, the self-guiding sector half-angle φ is 120°, and t A1 t A2 t A3 t A4 t A5 The detection times are 0 seconds, 87.5 seconds, 116.7 seconds, 204.2 seconds, and 233.5 seconds, respectively, with a detection period of 233.5 seconds. Based on the equipment's flight trajectory and detection model, the values ​​of k and t are calculated within the required time range of 5-10 minutes. A1 t A2 t A3 t A4 t A5 Substituting v, x0 = 0, and y0 = 0 into formulas (1), (2), and (3) respectively, the coordinates (x, v, x0 = 0, y0 = 0) of the underwater equipment T are calculated segment by segment based on the comb-shaped trajectory of the underwater equipment T. T ,y T ) and C T Formulas (5) and (6) are obtained.

[0053] Assuming the equipment's trajectory during detection is a comb shape, it can be represented as:

[0054]

[0055]

[0056] Substituting formulas (7) and (8) into formula (5), and using MATLAB to numerically solve inequality (4), the deployment range of underwater target M is obtained by iterating every second:

[0057] When 0 ≤ t < 233, the inequality has no solution;

[0058] When 233 ≤ t < 466, x m =450, 500 < y m <750;

[0059] When 233 ≤ t < 466, 450 < x m <750, 0<y m <750;

[0060] When 466≤t<600, the inequality has no solution.

[0061] Within the range of two solutions mentioned above, a point (650, 300) is selected within this range to conduct a simulation of an underwater equipment detecting an underwater target M. Figure 4 As shown, the experimental results indicate that underwater equipment T detected underwater target M 7.2 minutes after the start of the experiment, meeting the requirements of the experimental acoustic environment. The above specific examples illustrate the invention only to aid understanding and are not intended to limit the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the ideas of this invention.

Claims

1. A static environment construction method for underwater equipment detection capability verification test, comprising: establishing X and Y coordinate systems, with both the static target M and the underwater equipment T located in the aforementioned coordinate systems; the underwater equipment T navigating in a comb-like pattern within the "ABCD" mission area with a self-guiding sector radius r, its initial position being (x0, y0); and determining the pre-set navigation trajectory, detection capability, and test duration T of the underwater equipment T. s Constructed in a detection environment, it meets the requirements of underwater equipment T at t T2 To t T1 A static target M was detected within a short period of time; its characteristics are: It includes the following steps: (I) The movement trajectory of underwater equipment T The underwater equipment T's navigation trajectory during the detection of static target M is a comb shape. The comb-shaped trajectory is parallel to the X-axis and Y-axis of the above coordinate system. Its motion trajectory on the X-axis is expressed by formula (1): Its trajectory along the Y-axis is represented by formula (2). Heading C T This is represented by formula (3). Where t A1 t A2 t A3 t A4 and t A5 The starting times of underwater equipment T in the comb-shaped navigation path are the starting points of the first segment (1), the second segment (2), the third segment (3), the fourth segment (4), and the fifth segment (5), respectively, where t1 = t3 = t A2 -t A1 =t A4 -t A3 t2=t4=t A3 -t A2 =t A5 -t A4 , v is the speed of underwater equipment T, r is the radius of the homing sector of underwater equipment T (i.e., the detection radius), the distance traveled by underwater equipment T in time intervals t2 and t4 of the comb-shaped navigation path is r, and the distance traveled in time intervals t1 and t3 is s. t1, t2, t3, and t4 constitute one period T0 of the comb-shaped navigation, and the period T0 = t A5 -t A1 , k is rounded down to the nearest integer, which is the number of detection cycles minus 1, with T0 = t A5 -t A1 For one detection cycle, the motion is repeated periodically, C T For the course of the underwater equipment T, in the above formula, C T r, s, and v are all known; (II) Detection Model of Underwater Equipment T When the static target M(x) m ,y m ) point falls into underwater equipment T(x T ,y T Within the self-guiding sector area, that is, under the conditions defined by formula (4), the distance between the underwater equipment T and the static target M is less than or equal to the self-guiding sector radius r of the underwater equipment T, and at the same time, the line connecting the underwater equipment T and the static target M and the heading C of the underwater equipment T are... T When the included angle between them is less than or equal to the half-angle ф of the homing sector of underwater equipment T, underwater equipment T detects a static target M. (III) Constructing an underwater static target M in the detection environment For static environment configuration, the equipment needs to meet the requirements in [t] T2 ,t T1 The detection of a target within a given time period can be represented as: by Substitute the values ​​into formula (6) respectively to calculate the value of k, and then calculate the values ​​of k and t. A1 t A2 t A3 t A4 Substitute v into formulas (1), (2), and (3) respectively, and then calculate the coordinates (x, y) of underwater equipment T based on the segmented trajectory of the underwater equipment T. T ,y T ) and C T Then x T ,y T and C T Substituting into formula (5), In t T2 To t T1 Within the range, solve inequality (5). If inequality (5) has no solution, that is, under the current navigation trajectory of underwater equipment T, without constructing a detection environment, the detection capability of underwater equipment T cannot be verified, and the navigation trajectory of underwater equipment T needs to be replanned. If the above inequality has a solution, according to the obtained range of underwater static target M, during the test, an underwater static target M can be arbitrarily selected to set up a detection environment and conduct a test to verify the detection capability of underwater equipment T.

2. The static environment construction method for underwater equipment detection capability verification test as described in claim 1, characterized in that: The inequality (5) was solved numerically using MATLAB.

3. The static environment construction method for underwater equipment detection capability verification test as described in claim 2, characterized in that: If the above inequality has multiple solutions, within the range of all the above solutions, during the test, an underwater static target M can be arbitrarily selected to set up a detection environment and conduct a detection capability verification test of the underwater equipment T.

4. The static environment construction method for underwater equipment detection capability verification test as described in claim 3, characterized in that... The need to replan the navigation trajectory of the underwater equipment T involves changing the initial position (x0, y0) of the underwater equipment T in order to verify the detection capability of the underwater equipment T.

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