Dynamic Environment Construction Method Based on Underwater Equipment Detection Capability Verification Test

Abstract

This invention relates to a dynamic environment construction method for underwater equipment detection capability verification tests. An X and Y coordinate system is established, with both the dynamic target M and the underwater equipment T residing within this system. The underwater equipment T navigates in a comb-like pattern within the "A-B-C-D" mission area with a self-guiding sector radius of r, starting at (x0, y0). The system is configured based on a pre-set trajectory of the underwater equipment T and the detection capability test duration T. s Constructed in a detection environment, it satisfies the dynamic target M in t M Starting from the initial position (x1, y1) within a certain time period, underwater equipment T detects a dynamic target M. This includes: establishing the motion trajectory of underwater equipment T; establishing the motion trajectory of dynamic target M; establishing the detection model of underwater equipment T; and constructing the underwater dynamic target M in the detection environment. During the test, the initial position (x1, y1) of the underwater dynamic target M can be arbitrarily selected to construct the detection environment and conduct a verification test of the detection capability of underwater equipment T.

Description

Technical Field

[0001] This invention relates to the field of testing technology, and specifically to a dynamic 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 dynamic 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 dynamic test environment construction method for verifying the detection capabilities of underwater equipment. This method enables quantitative and standardized environment construction during equipment detection capability testing. 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 invention is to provide a dynamic environment construction method based on underwater equipment detection capability verification test.

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

[0008] This invention discloses a dynamic environment construction method for underwater equipment detection capability verification tests. An X and Y coordinate system is established, in which both the dynamic 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 of the underwater equipment T and a detection capability test duration T. s Constructed in a detection environment, it satisfies the dynamic target M in t M Starting from an initial position (x1, y1) within a given time period, underwater equipment T detects a dynamic target M; this includes the following steps:

[0009] (I) Establishing the motion trajectory of underwater equipment T

[0010] The underwater equipment T's navigation trajectory during the detection of the dynamic 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 tA5 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;

[0017] (II) Establishing the dynamic target M's motion trajectory

[0018] The trajectory of the dynamic target M during navigation is zigzag, and its motion trajectory on the X-axis is expressed by formula (4):

[0019] The trajectory of motion along the Y-axis is represented by formula (5):

[0020]

[0021] Where t B1 t B2 and t B3 Let t1' = t_0. B2 -t B1 , t2'=t B3 -t B2 , d EF Let d be the length of the first segment of the navigation path of the dynamic target M. FGLet v1 be the length of the second segment of the dynamic target M's navigation path, v1 be the speed of the dynamic target M, and t1' and t2' constitute one cycle of the dynamic target M's navigation. k2 is the number of motion cycles of the dynamic target M plus 1, and thereafter T1 = t B3 -t B1 This is a period of repetitive, cyclical motion.

[0022] (III) Establishing a detection model for underwater equipment T

[0023] When the dynamic 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 (6), the distance between the underwater equipment T and the dynamic target M is less than 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 dynamic target M and the heading C of the underwater equipment T are... T When the included angle between them is less than the half-angle φ of the homing sector of underwater equipment T, underwater equipment T detects the dynamic target M.

[0024]

[0025] (iv) Constructing underwater dynamic target M in the detection environment

[0026] For dynamic environment construction, dynamic conditions must be met. Starting from the initial position (x1, y1) within a given time period, the underwater equipment detects the target, which can be represented as:

[0027]

[0028] by Calculate the value of k, then calculate the value of k and t. A1 t A2 t A3 t A4 Substituting v into formulas (1), (2), and (3) respectively, the coordinates (x, y) of the underwater equipment T are then calculated segment by segment based on the comb-shaped trajectory of the underwater equipment T. T ,y T ) and C T Then x T ,y T and C T Substituting into formula (7),

[0029] by Calculate the value of k2, then combine the values ​​of k2, θ1, θ2, and t. B2 -t B1 t B3-t B2 Substitute v1 and v1 into formulas (4) and (5) respectively, then substitute formulas (4) and (5) into formula (7), and in [t A1 ,t M Within the range of ], solve inequality (7) to obtain the initial position (x1, y1) and initial departure time t of the underwater dynamic target. B1 ;

[0030] If inequality (7) has no solution, that is, under the current navigation trajectory of underwater equipment T, without setting up 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 (7) has a solution, the initial position range and departure time range of the dynamic target M can be obtained. During the test, the initial position (x1, y1) of the underwater dynamic target M can be set up at any location, the detection environment can be set up, and the detection capability verification test of underwater equipment T can be carried out.

[0031] The present invention provides a dynamic environment construction method based on underwater equipment detection capability verification test, wherein: inequality (7) is solved numerically using MATLAB.

[0032] The present invention provides a dynamic 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, the initial position and initial time of the underwater dynamic target M can be arbitrarily selected to construct the detection environment and conduct the underwater equipment T detection capability verification test.

[0033] The present invention provides a dynamic 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.

[0034] The dynamic environment construction method based on underwater equipment detection capability verification test of the present invention has the following beneficial effects:

[0035] 1) The underwater equipment detection test environment construction uses quantitative calculation to quantify the non-quantitative test implementation support issues, so as to realize the quantitative and standardized environmental construction in the underwater equipment detection capability assessment test;

[0036] 2) Dynamic environment construction obtains the initial range and start time of target deployment, providing technical support for the implementation of the experiment, thereby shortening the experiment cycle and improving the experiment efficiency;

[0037] 3) Based on the target deployment range provided by the environmental configuration, any location within the target deployment range can be selected to meet the design requirements of the test method, providing multiple references for test method designers and test implementers. Attached Figure Description

[0038] Figure 1 A diagram illustrating the equipment's target detection capabilities;

[0039] Figure 2 A schematic diagram of the equipment's navigation trajectory;

[0040] Figure 3 This is a schematic diagram of the target's navigation trajectory;

[0041] Figure 4 A schematic diagram for constructing a dynamic environment;

[0042] Figure 5 A simulation diagram was designed for the dynamic detection environment. Detailed Implementation

[0043] This invention provides a dynamic environment construction method based on underwater equipment detection capability verification tests, such as... Figures 1 to 4 As shown, an X and Y coordinate system is established, in which both the dynamic 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 of the underwater equipment T and the test duration T of its detection capabilities... s Constructed in a detection environment, it satisfies the dynamic target M in t M Starting from an initial position (x1, y1) within a given time period, underwater equipment T detects a dynamic target M; this includes the following steps:

[0044] (I) Establishing the motion trajectory of underwater equipment T

[0045] The underwater equipment T's navigation trajectory during the detection of the dynamic 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):

[0046]

[0047] Its trajectory along the Y-axis is represented by formula (2).

[0048]

[0049] Heading C T This is represented by formula (3).

[0050]

[0051] Where tA1 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;

[0052] (II) Establishing the dynamic target M's motion trajectory

[0053] The trajectory of the dynamic target M during navigation is zigzag, and its motion trajectory on the X-axis is expressed by formula (4):

[0054]

[0055] The trajectory of motion along the Y-axis is represented by formula (5):

[0056]

[0057] Where t B1 t B2 and t B3 Let t1' = t_0. B2 -t B1 , t2'=t B3 -tB2 , d EF Let d be the length of the first segment of the navigation path of the dynamic target M. FG Let v1 be the length of the second segment of the dynamic target M's navigation path, v1 be the speed of the dynamic target M, and t1' and t2' constitute one cycle of the dynamic target M's navigation. k2 is the number of motion cycles of the dynamic target M plus 1, and thereafter T1 = t B3 -t B1 This is a period of repetitive, cyclical motion.

[0058] (III) Establishing a detection model for underwater equipment T

[0059] When the dynamic 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 (6), the distance between the underwater equipment T and the dynamic target M is less than 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 dynamic target M and the heading C of the underwater equipment T are... T When the included angle between them is less than the half-angle φ of the homing sector of underwater equipment T, underwater equipment T detects the dynamic target M.

[0060]

[0061] (iv) Constructing underwater dynamic target M in the detection environment

[0062] For dynamic environment construction, dynamic conditions must be met. Starting from the initial position (x1, y1) within a given time period, the underwater equipment detects the target, which can be represented as:

[0063]

[0064] by Calculate the value of k, then calculate the value of k and t. A1 t A2 t A3 t A4 Substituting v into formulas (1), (2), and (3) respectively, the coordinates (x, y) of the underwater equipment T are then calculated segment by segment based on the comb-shaped trajectory of the underwater equipment T. T ,y T ) and C T Then x T ,y T and C T Substituting into formula (7),

[0065] by Calculate the value of k2, then combine the values ​​of k2, θ1, θ2, and t. B2 -t B1 t B3 -t B2 Substitute v1 and v1 into formulas (4) and (5) respectively, then substitute formulas (4) and (5) into formula (7), and in [t A1 ,t M Within the range of ], solve inequality (7) to obtain the initial position (x1, y1) and initial departure time t of the underwater dynamic target. B1 ;

[0066] The initial position of the underwater equipment in the experiment was (1927, -1444), the cruising speed of the underwater equipment was 10 knots, the detection radius was 150 m, and the detection opening angle was 60°. A1 t A2 t A3 t A4 t A5 The time intervals are 0 seconds, 135.8 seconds, 165 seconds, 300.8 seconds, and 330.0 seconds, respectively, with a detection period of 330.0 seconds; substituting these into formulas (1) and (2), we obtain formulas (8) and (9).

[0067] Assuming the equipment's trajectory during detection is a comb shape, it can be represented as:

[0068]

[0069]

[0070] Set the target cruising speed v1 to 4kN, t B1 t B2 t B3 The times are 0 seconds, 168.3 seconds, and 261.7 seconds respectively, θ1 = 240 degrees, θ2 = 132 degrees, and the cruise period is 261.7 seconds. Substituting these values ​​into formulas (4) and (5), we obtain formulas (10) and (11).

[0071] Based on the equipment's flight trajectory and detection model, determine the initial deployment range and departure time of the target under the condition that the target can be detected within the required time range.

[0072] Let's establish the trajectory of the dynamic target M.

[0073]

[0074]

[0075] Where t B2 =tB1 +168.3, t B3 =t B1 +261.2,

[0076] According to the test requirements, the equipment should be able to detect underwater targets within 20 minutes. Substituting formulas (8) to (11) into formula (6) yields the underwater target deployment range and departure time:

[0077] When t B1 ∈[0,4.33], x m ∈[2700,4000], y m =-744;

[0078] When t B1 ∈[0,3.67], y m ∈[-944,-744], x m =4000.

[0079] Select a point within this range (4000, -744), with a target departure time of t. B1 =0 Simulation simulation of underwater equipment detecting underwater targets was conducted. The test results showed that the underwater equipment detected the underwater target 18 minutes after the start of the test, which met the requirements of the test acoustic environment construction.

[0080] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A dynamic environment construction method for underwater equipment detection capability verification test, wherein an X and Y coordinate system is established, and the dynamic target M and the underwater equipment T are both in the above coordinate system. The underwater equipment T navigates in a comb-shaped pattern within the mission area with a self-guiding sector radius of radius r, and its initial position is (x0, y0). Based on the pre-set navigation trajectory, detection capability and test duration T of the underwater equipment T, the method is further defined. s Under the detection environment, the dynamic target M satisfies the condition at time t. M Within a given time period, starting from an initial position of (x1, y1), underwater equipment T detects a dynamic target M; its characteristic is: Includes the following steps: (I) Establishing the motion trajectory of underwater equipment T The underwater equipment T's navigation trajectory during the detection of dynamic 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): ----Formula (1); Its trajectory along the Y-axis is represented by formula (2). --- Official (2); Heading C T This is expressed as formula (3). --- Official (3); in t A1、 t A2、 t A3、 t A4 and t A5、 These represent the start times of the underwater equipment T at the starting points of the first, second, third, fourth, and fifth segments of its comb-shaped navigation path. t 1= t 3= t A2 -t A1 = t A4 - t A3 , t 2 =t 4 =t A3 - t A2 = t A5 - t A4 , , , The speed of underwater equipment T r The self-guiding sector radius, i.e., the detection radius, of underwater equipment T in a comb-shaped navigation path. t 2 and t The distance traveled in 4 hours is r ,exist t 1 and t The distance traveled in 3 hours is s , t 1. t 2. t 3. t 4. One cycle T0 constitutes the comb-shaped navigation, and the cycle 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) Establishing the dynamic trajectory of target M The trajectory of the dynamic target M during navigation is zigzag, and its motion trajectory on the X-axis is expressed by formula (4): ---Official (4); The trajectory of motion along the Y-axis is represented by formula (5): ---Official (5); in t B1 , t B2 , t B3 Let M be the initial times of the first and second segments of the navigation path and the initial time of the third segment. , d EF Let d be the length of the first segment of the navigation path of the dynamic target M. FG V1 represents the length of the second segment of the dynamic target M's travel path, and V1 represents the travel speed of the dynamic target M. and One cycle constitutes the navigation of the dynamic target M. k2 is the number of motion cycles of the dynamic target M plus 1, and thereafter... This is a period of repetitive, cyclical movement. (III) Establishing a detection model for underwater equipment T When the dynamic target M falls into the homing sector area of ​​the underwater equipment T, that is, under the conditions defined by formula (6), the distance between the underwater equipment T and the dynamic target M is less than the homing sector radius r of the underwater equipment T, and at the same time, the line connecting the underwater equipment T and the dynamic target M and the heading C of the underwater equipment T are also within the homing sector area. T The included angle between them is less than the half-angle of the homing sector of the underwater equipment T. At that time, underwater equipment T detected a moving target M. --- Official (6); (iv) Constructing underwater dynamic target M in the detection environment For dynamic environment construction, it is necessary to meet the dynamic objectives in Starting from the initial position (x1, y1) within a given time period, the underwater equipment detects the target, which is represented as: --- Official (7); ,by Calculate the value of k, and then calculate the value of k. 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 Substitute into formula (7). ,by Calculate the value of k2, and then combine the values ​​of k2, θ1, θ2, and t. B2 -t B1 ,t B3 -t B2 Substitute v1 and v1 into formulas (4) and (5) respectively, then substitute formulas (4) and (5) into formula (7), and... Within the range, solve inequality (7) to obtain the initial position (x1, y1) and initial departure time of the underwater dynamic target; If inequality (7) has no solution, that is, under the current navigation trajectory of underwater equipment T, without setting up 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 (7) has a solution, the initial position range and departure time range of the dynamic target M can be obtained. During the test, the initial position (x1, y1) of the underwater dynamic target M can be set up at any location, the detection environment can be set up, and the detection capability verification test of underwater equipment T can be carried out.

2. The dynamic environment construction method for underwater equipment detection capability verification test as described in claim 1, characterized in that: The inequality (7) was solved numerically using MATLAB.

3. The dynamic environment construction method for underwater equipment detection capability verification test as described in claim 2, characterized in that: If there are multiple solutions to the above inequality (7), within the range of the above multiple solutions, during the implementation of the test, the initial position and initial departure time of the underwater dynamic target M can be arbitrarily selected to set up the detection environment and conduct a detection capability verification test of the underwater equipment T.

4. The dynamic 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 underwater equipment T involves changing the initial position (x0, y0) of underwater equipment T in order to verify its detection capabilities.

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