Underwater vehicle formation optimization method and system based on information

Abstract

The invention provides an underwater vehicle formation optimization method and system based on information, and belongs to the technical field of formation control based on underwater vehicles. Using sampling data, such as temperature and salinity data, collected by each aircraft in the queue, adopting a Gaussian process to construct and update an ocean feature field model, then under formation constraint, taking the estimated feature field uncertainty of the sampling position of the queue as a target function, adopting an optimization algorithm to optimize the target function to obtain a formation with the maximum information degree, and finally obtaining the formation with the maximum information degree. And the formation parameters are output to the cooperative controller, the cooperative controller obtains control parameters of the aircraft through control law calculation, the control parameters are output to the aircraft, control over the aircraft is achieved, and finally high-efficiency formation cooperative sampling is achieved. On one hand, the method has a formation optimization decision-making capability, and on the other hand, the method has a multi-aircraft cooperative sampling capability, so that efficient and high-quality sampling of the underwater vehicle under the constraint of the formation allowable error is realized.

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