Underwater unmanned intelligent equipment target detection performance comparison test method

Abstract

The invention discloses a target detection performance comparison test method for underwater unmanned intelligent equipment, which realizes target detection performance index assessment of the underwater unmanned equipment in a shallow water environment, establishes a complete test process and scientifically and reasonably verifies technical indexes of the equipment. The invention provides a new test method and test means for the verification of the target detection performance of the underwater unmanned equipment in the shallow water environment.

Description

Technical Field

[0001] The invention belongs to the technical field of shooting range tests, and in particular relates to a target detection performance comparison test method for underwater unmanned intelligent equipment. Background Art

[0002] So far, the main means of underwater target positioning and tracking is still the hydroacoustic positioning method based on geometric principles, which mainly includes active positioning and passive positioning. The positioning technology based on active sonar has been widely studied and applied due to its high positioning accuracy. According to the length of the transponder array or the size of the receiving array, the conventional hydroacoustic positioning system can be mainly divided into the following three types: long baseline positioning system (LBL), short baseline positioning system (SBL) and ultra-short baseline positioning system (USBL). Compared with the short baseline positioning system, the array deployment, calibration and recovery of the long baseline positioning system are more complicated and costly. It is more suitable for monitoring and measurement of fixed areas with large ranges and deep sea areas. The ultra-short baseline system has higher requirements for the distance accuracy between base points. The short baseline is positioned by time delay difference or phase difference. At least three transducers need to be deployed. The distance between the transducers needs to be at least several wavelengths. A triangular or quadrilateral formation is used to determine the distance and relative position relationship. Through the single-transmit multiple-receive method, the time delay difference from the transmitting point to each transducer is obtained, and the distance, azimuth and slant angle of the beacon relative to the transducer system are calculated by geometric method. The short baseline has the characteristics of low cost, easy installation and simple operation, which meets the needs of underwater motion trajectory testing within a certain range in shallow waters. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a method for comparing and testing the target detection performance of underwater unmanned intelligent equipment, realizes the target detection performance index assessment of underwater unmanned equipment in shallow water environment, establishes a complete test process, and scientifically and reasonably verifies the technical indicators of equipment. The present invention provides a new test method and test means for verifying the target detection performance of underwater unmanned equipment in shallow water environment.

[0004] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0005] Step 1: Experimental scenario design;

[0006] Step 1-1: Test conditions;

[0007] Shallow water environment of ocean or lake, water depth within 10 meters, water range within 1 kilometer, hydroacoustic short baseline positioning system, simulated obstacles, stopwatch test equipment;

[0008] Step 1-2: Array deployment;

[0009] The array is deployed by shore deployment;

[0010] Step 1-3: Beacon installation;

[0011] A self-contained beacon is used, and a beacon position is reserved inside the underwater unmanned equipment for easy installation during testing; if no position is reserved, the beacon is hung parallel to the surface of the underwater unmanned equipment shell;

[0012] Step 2: Experimental process design;

[0013] Step 2-1: Use the short baseline to set up the test area and underwater target objects, and measure the coordinates of the area endpoints, target placement points, check-in points, starting points, and end points; before the test, provide the coordinates of all points except the obstacle placement points, as well as the shape parameters of the target objects to the test units, and enter the program on site to start the task;

[0014] Step 2-2: The unmanned intelligent equipment is equipped with a positioning beacon throughout the journey. When it autonomously navigates underwater to a circle with the check-in point as the center, it reports the longitude and latitude coordinates of the check-in point and the detected target to the host computer in real time through underwater wireless communication. The host computer receives and displays the relevant information in real time, completing the check-in and target detection tasks;

[0015] Step 3: Test conditions requirements;

[0016] Step 3-1: Autonomy requirements;

[0017] During the test, the unmanned intelligent equipment is set to the autonomous control working mode and runs according to the preset program. The operator shall not use wired or wireless communication links to control the equipment outside the regulations, and only monitor the operation of the participating equipment through the test system; if the test task is completed in a non-autonomous way, points will be deducted according to the requirements, or the score will be set lower than the autonomous way;

[0018] Step 3-2: Security requirements;

[0019] The test equipment is equipped with an emergency buoyancy function, which can detect its own status autonomously and surface urgently when in an abnormal navigation state; the maximum underwater time for a single mission is set, and emergency buoyancy is required when the time limit specified by the subject is exceeded;

[0020] If there are any external parts of the test equipment, such as propellers and sensors, the operator must participate in the entire process of towing and lifting and take protective measures to prevent damage;

[0021] Step 4: Determination of test results;

[0022] Step 4-1: Check-in accuracy result determination;

[0023] The distance between the shortest two points of the longitude and latitude of the punch-in point and the longitude and latitude of the short baseline hydroacoustic external measurement is r. The punch-in point is the data provided by the test unit before the test, and the latitude of the hydroacoustic short baseline external measurement is the data provided by the test equipment during the test. When r≤R, the punch-in accuracy result is within the valid path range, and it is determined that the autonomous navigation test is completed;

[0024] Step 4-2: Target detection result determination;

[0025] The distance between the longitude and latitude of the detection target and the longitude and latitude of the target deployment is l, where the longitude and latitude of the detection target are the data provided by the test equipment, and the longitude and latitude of the target deployment are the data provided by the test unit before the test. When l≤L, the target detection and positioning result is within the effective detection range, and the target identification result is provided, which is consistent with the provided underwater deployed target. In this case, the target detection and identification result is correct, and the target detection test is determined to be completed.

[0026] Preferably, the radius R is set according to the autonomous navigation accuracy CEP.

[0027] Preferably, the radius L is set according to the target positioning accuracy.

[0028] A computer program enables a computer to execute the above-mentioned target detection performance comparison test method.

[0029] An electronic device comprises: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device performs the above-mentioned target detection performance comparison test method.

[0030] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned target detection performance comparison test method.

[0031] A chip includes: a processor for calling and running a computer program from a memory, so that a device equipped with the chip executes the above-mentioned target detection performance comparison test method.

[0032] A computer program product, the computer program product includes a computer storage medium, the computer storage medium stores a computer program, the computer program includes instructions that can be executed by at least one processor, and when the instructions are executed by the at least one processor, the above-mentioned target detection performance comparison test method is implemented.

[0033] The beneficial effects of the present invention are as follows:

[0034] 1) The present invention proposes a method for testing underwater real-time motion trajectory using a quickly deployed short baseline acoustic positioning system, formulates test scenarios, test procedures, condition requirements, result judgment and other criteria, and provides a new test method and testing means for verifying the target detection performance of underwater unmanned equipment in shallow water environments.

[0035] 2) The present invention proposes a method for determining the test results of clocking-in accuracy and target detection by combining short-baseline hydroacoustic external measurement data, providing a new idea for test identification for the assessment of autonomous navigation accuracy and target positioning accuracy of underwater unmanned equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of the experimental scene design of the present invention;

[0037] Figure 2 Schematic diagram of the punch-in accuracy result determination of the present invention;

[0038] Figure 3 Schematic diagram of target detection result determination according to the present invention. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0040] Based on the underwater motion trajectory tracking test requirements of unmanned equipment in the shooting range, the present invention proposes an unmanned intelligent equipment test method based on a rapidly deployed hydroacoustic short baseline positioning, which realizes the target detection performance index assessment for underwater unmanned equipment in shallow water environment, establishes a complete test process, and scientifically and rationally verifies the equipment technical indicators.

[0041] The technical solution adopted by the present invention to solve the technical problem comprises the following steps:

[0042] 1) Experimental scenario design; Figure 1 As shown;

[0043] (1) Test conditions;

[0044] Shallow water environment such as ocean or lake, water depth within 10 meters, water range within 1 kilometer, hydroacoustic short baseline positioning system, simulated obstacles, stopwatch and other test equipment.

[0045] (2) Array deployment;

[0046] The deployment of the short baseline positioning system array will affect the positioning accuracy of the target in space and will be affected and restricted by various external factors, such as the hull, waters and working environment. An analysis is conducted based on the three important indicators of array deployment: mobility, stability and high precision, and a mobile, robust and high-precision short baseline positioning system is sought based on specific needs. The most commonly used array deployment methods are shore deployment, ship-borne deployment and fixed deployment on the seabed. Based on the test requirements for high mobility in shallow water environments, the shore deployment method is selected to achieve rapid deployment and withdrawal of the array, which can avoid the array being affected by hull noise and causing interference to the reception of useful signals. The shore deployment scheme is simple, the array does not require long-distance signal transmission, the position can be changed at any time as needed, and it can be put into the water at any time as needed, with high adaptability.

[0047] (3) Beacon installation;

[0048] Self-contained beacons are used, and beacon positions are reserved inside the underwater unmanned equipment for easy installation during testing; when no position is reserved, the beacon is mounted parallel to the surface of the underwater unmanned equipment shell. The self-contained beacon is used in conjunction with the short baseline positioning system array in the test waters to achieve underwater positioning. It is carried throughout the test and has the characteristics of lightweight and miniaturization, and can achieve high-precision positioning in a small range.

[0049] 2) Experimental process design;

[0050] (1) Use a short baseline to set up the test area and deploy targets underwater, measure the coordinates of the area endpoints, target deployment points, check-in points, starting points, and end points, and provide the coordinates of all points except the obstacle deployment points, as well as the shape parameters of the target objects to the test units before the test. Enter the program on site to start the task.

[0051] (2) The unmanned intelligent equipment is equipped with a positioning beacon throughout the journey. When it autonomously navigates underwater to a circle with the check-in point as the center, it reports the longitude and latitude coordinates of the check-in point and the detected target object to the host computer in real time through underwater wireless communication. The host computer can receive and display relevant information in real time to complete the check-in and target detection tasks.

[0052] 3) Test conditions requirements;

[0053] (1) Requirement for autonomy;

[0054] During the test, the unmanned intelligent equipment is set to autonomous control mode and runs according to the preset program. The operator shall not use wireless / wireless communication links to control the equipment outside the regulations, and only monitor the operation of the participating equipment through the test system. If the test task is completed in a non-autonomous way, points will be deducted according to the requirements, or the score will be set lower than the autonomous way.

[0055] (2) Safety requirements;

[0056] The test equipment should be equipped with an emergency surfacing function, be able to detect its own status autonomously, and surface urgently when in an abnormal navigation state. Set a maximum underwater time for a single mission, and if it exceeds the time limit specified by the subject, it needs to surface urgently.

[0057] If there are important parts such as propellers and sensors on the outside of the test equipment, they should be properly protected. During the towing and lifting operations, the operator should participate in the whole process and take necessary protective measures to prevent damage.

[0058] 4) Determination of test results;

[0059] (1) Punch card accuracy determination;

[0060] like Figure 2 As shown in the figure, the distance between the shortest two points of the longitude and latitude of the check-in point and the longitude and latitude of the short baseline hydroacoustic external measurement is r. The check-in point is the data set and provided by the test unit before the test, and the latitude of the hydroacoustic short baseline external measurement is the data provided during the test of the participating equipment. When r≤R (the radius R is set according to the autonomous navigation accuracy CEP), the check-in accuracy result is within the valid path range and the autonomous navigation test is regarded as completed.

[0061] (2) Target detection result determination;

[0062] like Figure 3 As shown, the distance between the longitude and latitude of the detection target and the longitude and latitude of the target deployment is l, where the longitude and latitude of the detection target are the data provided in the test of the participating equipment, and the longitude and latitude of the target deployment are the data provided by the test unit before the test. When l≤L (the radius L is set according to the target positioning accuracy), the target detection and positioning result is within the effective detection range, and the target object recognition result is provided, which is consistent with the provided underwater deployed target. In this case, the target detection and recognition result is correct, and the target detection test is deemed to be completed.

[0063] Example:

[0064] The present invention can be applied to the performance verification test of underwater unmanned intelligent equipment within a certain range in a shallow water environment.

[0065] The test steps include:

[0066] 1) Deployment of survey equipment;

[0067] The short baseline positioning array consists of underwater beacons and beacon detection sonars. The sonars are suspended underwater near the shore via cables, and the transponder beacons are installed on unmanned equipment.

[0068] 2) The test site is established;

[0069] Step 1: Plan the test mission area and mission route, set the starting point E and the end point F. The test mission area consists of points A, B, C, and D, and the mission check-in points are P1, P2, and P3. Test the coordinates of each point and provide them to the participating units before the test.

[0070] Step 2: Construct a debugging preparation area and place buoys on the water surface boundary for adaptability debugging of the test equipment before the test.

[0071] Step 3: Build an inspection platform, such as a floating platform on the shore or a test support ship, for pre-test inspection and static testing of the test equipment, and for deployment into the water and recovery on shore.

[0072] Step 4: Randomly arrange three underwater targets in the mission waters and test the coordinates of the deployment points. This test uses three types of targets: column 1 (gasoline barrel 60*100cm), column 2 (tire about 10*100cm), and cube (side length 50cm). The shape of the target is provided to the test units before the test, but the specific number and position are not provided. The size, appearance and shape of each target can be designed according to the actual obstacle target characteristics.

[0073] Step 5: Before the test, use multi-beam side-scan sonar to scan the water conditions and confirm that there are no other metal obstacles in the test site.

[0074] 3) Experiment organization and implementation;

[0075] Step 6: Install the positioning beacon at the appropriate position of the underwater unmanned intelligent equipment and load the counterweight as required.

[0076] Step 7: Before the test, the unmanned equipment will be adjusted for adaptability in the debugging area. After the positioning beacon is deployed by the inspection and recording platform, the floating state adjustment, communication and control command reception and transmission, and various functional module tests will be carried out in the debugging preparation area. Each participating unit will only be provided with one adaptability debugging opportunity, which lasts for 15 minutes.

[0077] Step 8: The unmanned equipment completes the previous test items, sails to the mission starting point, and the timer begins.

[0078] Step 9: Within the specified 60-minute time, the unmanned equipment plans a path in the test mission area, autonomously navigates at a fixed depth (1.5 to 2.5 meters underwater) according to the mission route, completes the target detection and check-in tasks, and records the coordinates of the detected target and the check-in point coordinates and other information in real time.

[0079] Step 10: After the detection is completed, drive out of the task area, report the overall detection results, and record the test time.

[0080] Step 11: The participating units shall submit the navigation time data and target detection results (category, location coordinates and detection pictures, etc.) within 15 minutes.

[0081] 4) Evaluation of test results;

[0082] In test step 8, if the unmanned equipment can start and depart according to the mission route within 10 minutes of the start of the timing, it will be scored as 10 points. If the participating platform cannot be started within the specified time, the timing will be 60 minutes and the mission will fail.

[0083] In test step 9, the detection task is started in a non-autonomous manner. The operator identifies and locates the target object based on the detection information and provides files such as the target object category, location (latitude and longitude coordinates) and corresponding target object detection images (optical, acoustic) within 10 minutes after the test. 5 points will be awarded for accurate target object category.

[0084] In test step 9, the detection mission is started in an autonomous manner. During the underwater target detection process, the unmanned equipment autonomously identifies the target object. If the target object category is accurate, 10 points will be awarded. At the end of the detection mission, within 10 minutes after the test, files such as the target object category, coordinates, and corresponding target object detection shadow image with a timestamp will be provided.

[0085] In test step 9, 10 points are awarded when the deviation of the detected target object coordinate position r≤10m, and no points are awarded when the deviation r>10m.

[0086] In test step 9, 10 points will be awarded when the punch-in accuracy deviation is l≤5m, 5 points will be awarded when the deviation is 5<l≤10m, and no points will be awarded when the deviation is l>10m.

[0087] In test step 10, if the unmanned equipment can successfully reach the finish line, it will be scored as 10 points.

Claims

1. A method for testing the target detection performance of underwater unmanned intelligent equipment, characterized in that: The steps include: Step 1: Experimental scenario design; Step 1-1: Test conditions; Shallow water environment of ocean or lake, water depth within 10 meters, water range within 1 kilometer, hydroacoustic short baseline positioning system, simulated obstacles, stopwatch test equipment; Step 1-2: Array deployment; The array is deployed by shore deployment; Step 1-3: Beacon installation; A self-contained beacon is used, and a beacon position is reserved inside the underwater unmanned equipment for easy installation during testing; if no position is reserved, the beacon is hung parallel to the surface of the underwater unmanned equipment shell; Step 2: Experimental process design; Step 2-1: Use the short baseline to set up the test area and underwater target objects, and measure the coordinates of the area endpoints, target placement points, check-in points, starting points, and end points; before the test, provide the coordinates of all points except the obstacle placement points, as well as the shape parameters of the target objects to the test units, and enter the program on site to start the task; Step 2-2: The unmanned intelligent equipment is equipped with a positioning beacon throughout the journey. When it autonomously navigates underwater to a circle with the check-in point as the center, it reports the longitude and latitude coordinates of the check-in point and the detected target to the host computer in real time through underwater wireless communication. The host computer receives and displays the relevant information in real time, completing the check-in and target detection tasks; Step 3: Test conditions requirements; Step 3-1: Autonomy requirements; During the test, the unmanned intelligent equipment is set to the autonomous control working mode and runs according to the preset program. The operator shall not use wired or wireless communication links to control the equipment outside the regulations, and only monitor the operation of the participating equipment through the test system; if the test task is completed in a non-autonomous way, points will be deducted according to the requirements, or the score will be set lower than the autonomous way; Step 3-2: Security requirements; The test equipment is equipped with an emergency buoyancy function, which can detect its own status autonomously and surface urgently when in an abnormal navigation state; the maximum underwater time for a single mission is set, and emergency buoyancy is required when the time limit specified by the subject is exceeded; If there are any external parts of the test equipment, such as propellers and sensors, the operator must participate in the entire process of towing and lifting and take protective measures to prevent damage; Step 4: Determination of test results; Step 4-1: Check-in accuracy result determination; The distance between the shortest two points of the longitude and latitude of the punch-in point and the longitude and latitude of the short baseline hydroacoustic external measurement is r. The punch-in point is the data provided by the test unit before the test, and the latitude of the hydroacoustic short baseline external measurement is the data provided by the test equipment during the test. When r≤R, the punch-in accuracy result is within the valid path range, and it is determined that the autonomous navigation test is completed; Step 4-2: Target detection result determination; The distance between the longitude and latitude of the detection target and the longitude and latitude of the target deployment is l, where the longitude and latitude of the detection target are the data provided by the test equipment, and the longitude and latitude of the target deployment are the data provided by the test unit before the test. When l≤L, the target detection and positioning result is within the effective detection range, and the target identification result is provided, which is consistent with the provided underwater deployed target. In this case, the target detection and identification result is correct, and the target detection test is determined to be completed.

2. The target detection performance comparison test method of underwater unmanned intelligent equipment according to claim 1 is characterized in that: The radius R is set according to the autonomous navigation accuracy CEP.

3. The target detection performance comparison test method of underwater unmanned intelligent equipment according to claim 1 is characterized in that: The radius L is set according to the target positioning accuracy.

4. A computer program, characterized in that The computer program enables a computer to execute the method according to any one of claims 1 to 3.

5. An electronic device, characterized in that: include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method as claimed in any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

7. A chip, characterized in that: include: A processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes a method as claimed in any one of claims 1 to 3.

8. A computer program product, characterized in that The computer program product comprises a computer storage medium storing a computer program, wherein the computer program comprises instructions executable by at least one processor, and when the instructions are executed by the at least one processor, the method according to any one of claims 1 to 3 is implemented.

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