A distributed heterogeneous multi-aquatic unmanned vehicle cooperative control module for target detection tracking

Abstract

The application discloses a kind of distributed heterogeneous multi-underwater unmanned vehicle cooperative control module for target detection tracking, it is carried in UUV inside, by UUV power supply and with UUV and shore-based platform communication control unit, software covers communication, mission analysis, perception information processing, behavior decision, cooperative algorithm, fault detection and data record etc.submodule, communication submodule provides standard interface protocol to realize information exchange and heterogeneous support;Mission analysis submodule analyzes static or dynamic task instruction;Perception information processing submodule processes sonar data and transmits to behavior decision submodule planning behavior, output instruction by cooperative algorithm submodule, fault detection submodule judges fault and gives processing instruction, data record submodule stores key data, the present application provides uniform standard interface and instruction set, based on sonar design processing and decision-making method and encapsulated into module, improve heterogeneous UUV cooperative task efficiency, complete target detection and tracking task, enhance multi-UUV cooperative operation ability.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of multi-underwater unmanned vehicle cooperative control, and relates to a distributed heterogeneous multi-underwater unmanned vehicle cooperative control module for target detection and tracking. BACKGROUND

[0002] In recent years, with the rapid development of underwater unmanned vehicle (UUV) technology, UUVs are increasingly widely used in marine exploration, environmental monitoring, underwater rescue, resource investigation, and military fields. In complex underwater environments, the capabilities and coverage of a single UUV are usually limited, while multiple heterogeneous UUVs can significantly improve the efficiency and completion quality of tasks through cooperative work. Therefore, how to achieve efficient cooperation of heterogeneous UUVs in cooperative tasks has become a hot and difficult point of current research.

[0003] In the cooperative detection and target tracking tasks of heterogeneous UUVs, it is often necessary to accurately locate and detect static targets such as sunken ships and mineral resource points, and to dynamically respond to the motion trajectories of underwater moving targets such as submarines. Such tasks pose high requirements on the perception, decision-making, and cooperative control of UUVs. However, due to differences in hardware, interface protocols, and instruction sets among different UUVs, traditional control methods often fail to meet the needs of multi-UUV cooperative tasks. For example, the low standardization of communication protocols between UUVs makes it difficult to transfer cooperative instructions; different processing methods of perception data affect the efficiency of information sharing and comprehensive decision-making; and the lack of a unified framework for behavior decision-making and control strategies restricts the flexibility and scalability of tasks.

[0004] To address these challenges, the academic and industrial communities have proposed some methods, such as global optimization methods based on centralized control, autonomous decision-making strategies based on distributed control, and multi-sensor fusion techniques. However, these methods mostly rely on specific hardware architectures or control systems, lack universality, and are difficult to adapt to the cooperative operation needs of multiple heterogeneous UUVs. At the same time, the real-time performance and robustness of existing methods in complex underwater environments still need to be improved, especially in static target detection and dynamic target tracking tasks, the coordination between UUVs has not been effectively solved.

[0005] To solve the above problems, the application provides a cooperative control module for target detection and tracking task. The module is based on unified input and output interface protocol and standardized instruction set, and can be compatible with various types of UUVs. The core design is based on the perception data obtained by the sonar detection sensor, combined with advanced behavior decision logic and cooperative algorithm, supporting the cooperative operation between heterogeneous UUVs, and significantly improving the efficiency of the cluster to complete the target detection and tracking task. Meanwhile, the application adopts modular design, is highly compatible with the existing UUV hardware system, does not interfere with the control logic of the UUV bottom layer, fully retains the independence and stability of the existing system, and shows significant advantages in the multi-UUV cooperative application scene, and provides an innovative solution for multi-UUV cooperative detection and tracking. SUMMARY

[0006] To solve the above technical problems, the application aims to provide a distributed heterogeneous multi-underwater unmanned vehicle cooperative control module for target detection and tracking, so as to realize the system design, development and application of multi-heterogeneous UUV cooperative detection of static targets and tracking of dynamic targets under unified standards.

[0007] The specific technical solutions are as follows:

[0008] A distributed heterogeneous multi-underwater unmanned vehicle cooperative control module for target detection and tracking, the cooperative control module is installed in the sealed cabin of the UUV platform and is powered by the UUV power management module, exchanges data with the UUV platform communication module and the shore-based platform through a unified standard communication protocol, does not participate in the UUV bottom layer control, a plurality of UUVs each carry a cooperative control module, and a distributed multi-UUV cooperative control system is formed, the cooperative control module comprises:

[0009] A communication submodule provides a unified standard input and output interface for exchanging information with the UUV carrier and the shore-based platform;

[0010] A mission analysis submodule analyzes task instructions based on a unified standard instruction set, and supports static and dynamic task modes;

[0011] A perception information processing submodule receives and processes target detection data from a sonar sensor, including target angle, signal-to-noise ratio and intensity;

[0012] A behavior decision submodule determines the behavior strategy of the UUV according to the processed perception information and the task instructions;

[0013] A cooperative algorithm submodule executes a control algorithm to generate a unified standard UUV control instruction; a fault detection and processing submodule monitors system errors and generates a fault processing instruction;

[0014] Data recording sub-module, store system key data, call storage for other sub-modules to support subsequent analysis.

[0015] The communication sub-module comprises:

[0016] Input mission task information: including multi-UUV communication topology configuration, target operation area and target task, output to mission analysis sub-module;

[0017] Input the node state information, the self navigation state information of the module carrier UUV, including UTC timestamp, position, speed, attitude and other key information, for cooperative control operation;

[0018] Input the node sensor detection information: the detection data received by the sonar detection sensor carried by the module carrier UUV, including target angle, signal-to-noise ratio and intensity and other key information, for target state solving and tracking;

[0019] Input the neighbor node state information: the self navigation state information of the adjacent UUV node, including UTC timestamp, position, speed, attitude and other key information, for cooperative control operation;

[0020] Input the neighbor node target perception information: the target information calculated by the adjacent UUV node using its own perception information processing sub-module for filtering processing and state estimation of the sensor detection data, including target speed, target heading, target relative angle and target relative distance and other key information, for UUV behavior planning control;

[0021] Output the node state information: the input information of the neighbor node, including the timestamp, position, speed, attitude and other key information of the node, for cooperative control operation;

[0022] Output the node target perception information: the input information of the neighbor node, including the target detection angle, target calculated position, target calculated speed, target calculated heading and confidence and other key information of the node optimized by the perception information processing sub-module, for cooperative target detection tracking;

[0023] Output the cooperative control instruction information: the control instruction information of the UUV calculated by the cooperative control, including the expected speed, navigation and depth information of the UUV body to be tracked, using a unified standardized instruction set to realize the analysis and tracking of the control instruction of the heterogeneous UUV platform.

[0024] The mission analysis sub-module comprises:

[0025] Static task mode, for area coverage search of static target, the execution process is all pre-planned before the task starts, that is, each stage and execution order of the task is fixed;

[0026] Dynamic task mode is used for dynamic target search and tracking task, and is dynamically determined according to real-time environment data or task target state change, and is adjusted in real time according to actual conditions.

[0027] The perception information processing submodule comprises: receiving task instruction information from the cooperative algorithm submodule to determine the executed task mode, receiving target perception information of neighbor nodes and detection information of the sensor of the node from the communication submodule, fitting and filtering the detection angle by using a sliding time window and a least square method to obtain the detection angle and the confidence of the detection angle, estimating the target speed, the heading, the relative distance and the confidence of the state estimation based on a boundary-constrained particle filtering algorithm, selecting the high-confidence perception information as the credible data after fusing the perception information of the neighbor nodes, and delivering the processed perception information to the behavior decision submodule for behavior planning and control.

[0028] The behavior decision submodule comprises:

[0029] The behavior decision submodule receives the perception information received from the perception information processing submodule, selects a proper behavior strategy according to the current state of the UUV, judges whether the executed task is static or dynamic, performs behavior planning according to a preset procedure when the executed task is a static task, and adopts at least one of the following behavior strategies: target search behavior decision for repositioning the target when the target is lost, target tracking decision based on the bearing-only for tracking when the target motion element analysis fails, and target tracking decision based on motion behavior analysis for tracking when the target motion element analysis is effective.

[0030] The cooperative algorithm submodule combines the relevant historical key data information in the data recording submodule, processes the task instruction information output by the current mission analysis submodule, the state information of the node received from the UUV carrier in the communication submodule, the state information of each neighbor node of the underwater acoustic communication, and the behavior control instruction output by the behavior decision submodule, outputs a unified standard control instruction to the communication submodule, and transmits the control instruction to the UUV carrier bottom layer control unit to realize UUV motion control.

[0031] The perception information processing submodule further converts the neighbor node perception information into data in the coordinate system of the node when necessary.

[0032] The present application has the following advantages:

[0033] 1. A general unified standard interface protocol and a distributed cooperative control architecture are provided, which can be carried on a heterogeneous UUV platform to realize distributed heterogeneous multi-UUV cooperative control and better complete the cooperative detection and tracking task.

[0034] 2. Provide a unified standard general instruction set, so that each UUV can formulate mission tasks, parse mission task instructions and control instructions under the unified standard, reducing the difficulty of system design development, debugging and application;

[0035] 3. Support both static and dynamic task modes for target detection and tracking tasks. Among them, the static task supports multi-UUV cooperative formation, cooperative regional static target search and other preset process tasks, and the dynamic task supports cooperative regional dynamic target search and tracking and other non-complete preset process tasks, improving the flexibility and adaptability of multi-UUV cooperative tasks;

[0036] 4. As an intermediate bridge module between upper decision and lower control, it is responsible for integrating distributed cooperative control system, standardized input and output interface protocol, general instruction set and fault detection function. Through data interaction with the communication module of the UUV body, this module realizes task parsing, instruction distribution and cooperative control functions, while avoiding direct intervention in the lower control logic, thereby effectively shielding the differences in type, interface openness and other aspects of heterogeneous UUVs, simplifying the system design and development difficulty, and improving the universality, adaptability and portability of the cooperative control system. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 : Schematic diagram of installation and connection relationship of cooperative control module inside UUV carrier;

[0038] Figure 2 : Distributed heterogeneous multi-UUV cooperative task execution flowchart;

[0039] Figure 3 : Task execution flowchart of regional search and tracking dynamic target;

[0040] Figure 4 : Topological relationship diagram of each software submodule of cooperative control module;

[0041] Figure 5 : Schematic diagram of searching dynamic target based on S-type maneuver;

[0042] Figure 6 : Target tracking schematic diagram based on pure bearing and motion behavior analysis. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0044] The application provides a kind of distributed heterogeneous multi underwater unmanned vehicle cooperative control module for target detection tracking, as shown in Figure 1 Each cooperative control module is independently packaged, and has three interfaces of communication port (including network port and serial port) and power supply port, is installed in the internal of UUV carrier, is powered by UUV carrier power supply module, is connected with the communication module on the main control to realize network port or serial port communication.Each UUV of cluster is equipped with the cooperative control module of the application, and the mission task is issued by the surface mother ship / land-based command and control center through WiFi or radio, and the planned task is efficiently completed in cooperation.

[0045] Figure 2 It is a total flow chart for multi-UUV task execution, which includes UUV deployment, standby navigation, navigation to task area, mission task execution and finally return to wait for recovery stage. Among them, the dynamic and static tasks described in the application are mainly distinguished in the mission task execution stage; the static task includes the area coverage search static target task, because the task execution process is only based on the preset execution of the planned task before standby navigation, and does not dynamically adjust according to the actual situation, therefore, the application classifies it as a static task. In this scenario, each UUV cooperates to search and detect the area according to the planned mission task, and returns to the recovery point to wait for recovery after the coverage search is completed. The dynamic task includes the area search tracking dynamic target task, which is Figure 3 It is known that, because the mission task execution process is not completely preset, but is adjusted in real time according to the task target state, therefore, the application classifies it as a dynamic task. In this scenario, each UUV cooperates to search and detect the area according to the initial planned mission task, and if a target is detected, it automatically switches to the tracking stage, and simultaneously transmits target information to the surrounding UUV neighbor nodes through underwater acoustic communication, and adjusts the nearest neighbor to cooperate in tracking. In the tracking stage, the appropriate tracking mode is automatically switched according to the detection information of the sensor and the analysis information of the target motion behavior, including (1) selecting the bearing-only target tracking mode based on the effective detection information but the failure of target motion behavior analysis; (2) selecting the tracking mode based on target motion behavior analysis if both the detection information and the analysis information of the target motion behavior are effective; if the above related information of the target is missing for a long time in the tracking stage, it is automatically switched back to the search stage for regional cooperative search.

[0046] Figure 4 The topological relationship of the software submodules of the cooperative control module is described. The software part of the cooperative control module includes a communication submodule, a mission analysis submodule, a perception information processing submodule, a behavior decision submodule, a cooperative algorithm submodule, a fault detection submodule and a data recording submodule.

[0047] The communication submodule provides a unified standard input / output interface protocol to realize the input / output interface of the cooperative control module with the outside world, including input mission task information, input node state information, input node sensor detection information, input neighbor node state information, input neighbor node target perception information, output node state information, output node target perception information, and output cooperative control instruction information.

[0048] The input mission task information is a task instruction planned in a task preparation stage, containing a multi-UUV communication topology configuration, a target operation area, and a target task, and is output to a mission analysis submodule. The input mission task information adopts a unified standardized instruction set, has universality and standardization characteristics, and can be used for unified issuance and efficient analysis of multi-heterogeneous UUV task instructions.

[0049] The input node state information is the self navigation state information of the module carrier UUV, including UTC timestamp, position, speed, attitude, and other key information for cooperative control operation.

[0050] The input node sensor detection information is detection data received by the sonar detection sensor carried by the module carrier UUV, including target angle, signal-to-noise ratio, and intensity, and other key information for target state solving and tracking.

[0051] The input neighbor node state information is the self navigation state information of the adjacent UUV node, including UTC timestamp, position, speed, attitude, and other key information for cooperative control operation.

[0052] The input neighbor node target perception information is target information obtained by filtering processing and state estimation solving of sensor detection data by the adjacent UUV node using its own perception information processing submodule, including target speed, target heading, target relative angle, and target relative distance, and other key information for UUV behavior planning control.

[0053] The output node state information is input information of the neighbor node, including the timestamp, position, speed, attitude, and other key information for cooperative control operation of the node.

[0054] The output node target perception information is input information of the neighbor node, including the target detection angle, target solving position, target solving speed, target solving heading, and confidence of the node after optimization by the perception information processing submodule, and other key information for cooperative target detection tracking.

[0055] The output cooperative control instruction information is the control instruction information of the UUV calculated by the cooperative control, including the expected speed, navigation, and depth information that the UUV body needs to track, adopts a unified standardized instruction set, has the characteristics of universality and standardization, and can realize the analysis and tracking of the control instructions of the heterogeneous UUV platform.

[0056] The mission analysis submodule analyzes and outputs the mission task information output by the communication submodule based on a unified standard task instruction set. The submodule supports two mission task analysis modes, including a static task mode and a dynamic task mode.

[0057] The perception information processing submodule receives the task instruction information from the cooperative algorithm submodule to determine the execution task mode and receives the target perception information of the neighbor nodes and the sensor detection information of the node. First, the detection angle fitting and filtering are realized by using a sliding time window and a least square method based on the sensor detection information of the node, to obtain the filtered detection angle and the angle estimation confidence. Finally, the particle filtering algorithm based on boundary constraint is used to realize the calculation of the detection target motion elements, to obtain the estimated target speed, heading, relative distance, and state estimation confidence. Secondly, the high-confidence perception information is selected as the trusted data output in combination with the target perception information of the neighbor nodes. If the neighbor node perception information is selected, part of the data needs to be further converted, such as the target relative angle of the neighbor node needs to be converted into the target relative body angle in the node carrier coordinate system. Finally, the above-processed perception information is output to the behavior decision submodule for further behavior planning control.

[0058] The behavior decision submodule inputs the perception information output by the perception information processing submodule and the task instruction information to determine the task mode. For the static task, the UUV is controlled according to a preset process. For the dynamic task, the UUV is controlled by using three behavior strategies, including target search behavior decision, target tracking decision based on bearing only, and target tracking decision based on motion behavior analysis. The strategy switching is determined and selected according to the current state of the UUV. Finally, the behavior control instruction information such as the carrier speed and the heading angle is output to the cooperative control algorithm submodule.

[0059] The target search behavior decision is that when the detection angle information and the calculated target motion elements in the perception information output by the perception information processing submodule are invalid for a certain time, the target is lost and the target cannot be located, and the S-shaped maneuver search mode is adopted to search and locate the target by increasing the search detection range. Figure 5

[0060] ​The pure bearing-based target tracking decision, i.e. the target motion elements calculated in the perception information output by the perception information processing submodule are invalid, only determines the target approximate direction according to the detection angle information, and sets a virtual point 50 meters away from the axis as the tracking position point, plans the UUV motion control to move quickly to the target suspicious direction, so as to approach the target to obtain more effective information and complete the tracking task better.

[0061] The target tracking decision based on motion behavior analysis, i.e. when the perception information in the perception information processing submodule is all valid, the target position information is determined according to the calculated target relative angle and relative distance, so as to quickly plan the UUV motion control to realize dynamic target tracking.

[0062] The specific planning method of the above pure bearing-based or motion behavior analysis-based target tracking decision method is shown in Figure 6 After obtaining the virtual tracking point or the actual tracking point, firstly, the global reference path is generated and optimized. In order to meet the turning radius constraint, Dubins curve is used to connect the start and end points, i.e. the current position point of the UUV is the starting point, and the calculated UUV virtual tracking point or actual tracking point is the end point, and the global reference path is optimized by using cubic spline interpolation. After the global reference path is determined, the current position of the UUV needs to be projected onto the global reference path, and combined with the state information, a plurality of local sampling trajectories are generated in the lateral and longitudinal directions, and the sampling points are connected by a quintic polynomial to ensure the continuity and dynamic smoothness of the trajectory. Finally, the generated local trajectory is selected by multi-dimensional comprehensive evaluation to select the optimal path and output the control instruction information such as heading angle and speed. The following 5 evaluation indexes are referred to:

[0063] 1) Smoothness cost : Low smoothness will cause additional lateral acceleration, resulting in UUV shaking. Therefore, in order to reduce shaking, the integral of the square of the lateral offset second derivative along the reference line is selected as the standard of the smoothness of the trajectory, as follows.

[0064] ;

[0065] 2) Consistency cost : Sudden changes in the trajectory require excessive energy and additional control. Therefore, in order to avoid generating a trajectory that is significantly different from the previous trajectory, a measure of similarity between the previous trajectory and the current candidate path is needed. Here it is simplified to evaluate the absolute value of the difference between the current trajectory number i and the previous desired trajectory , as follows.

[0066] ;

[0067] 3) Reference line cost​ This standard guides the UUV to follow the global reference path in order to position itself on the desired path. Since the candidate paths are generated around the center by a defined lateral offset, the cost of following the reference trajectory is proportional to the offset. The farther the lateral offset is, the more the cost increases, given by the following formula:

[0068] ;

[0069] where is the lateral distance between the trajectory i and the reference line.

[0070] 4) Safety cost To ensure the safe driving of the UUV, the safety cost is mainly considered as the occupancy grid within a certain range of lateral distance at a certain time. If there is no collision, the cost is 0, and the obstacles within a lateral distance are calculated.

[0071] ;

[0072] When there are no obstacles within a certain lateral distance range around the UUV (obstacle-free), the safety cost is 0, indicating that the UUV is in a safe state and does not need to pay an additional "cost" to avoid collision.

[0073] When there are obstacles within a lateral distance , the safety cost needs to be calculated according to the relative position relationship between the obstacles and the UUV (represented by ). The calculation method is , where is the lateral distance related parameter between the i-th sampling point and the obstacle and the UUV at a certain time, which is a constant, and approaches 0 (i.e., the UUV is closer to the obstacle), the safety cost will gradually increase, approaching 2; while approaches , the safety cost will gradually decrease, approaching 0. This can encourage the UUV to plan the path as far away from the obstacles as possible to ensure its safe driving.

[0074] In actual UUV motion planning algorithm, the safety cost will participate in the comprehensive evaluation of the path together with other costs (such as smoothness cost, consistency cost, reference line cost, tracking cost, etc.). By calculating and comparing the costs of different paths, the path with the lowest total cost is selected as the running path of the UUV, so as to ensure the safety operation of the UUV while tracking the target. For example, in the process of selecting the optimal path based on multi-dimensional comprehensive evaluation, the safety cost and other costs are weighted and summed according to different weights to obtain the total cost function of each path (such as ), and finally the optimal path is determined and the corresponding heading angle and speed control instruction information are output to the UUV carrier for tracking control.

[0075] 5) Tracking cost In order to maintain tracking of the target, the calculation of tracking cost will be considered. The tracking cost mainly includes distance error and navigation error from the target:

[0076] ;

[0077] ;

[0078] In the formula, is the longitudinal length of the entire reference line, is the longitudinal length of the projection point of the current UUV on the reference path, is the longitudinal distance from the target to be maintained. is the relative angle between the UUV and the target, is the current heading of the UUV.

[0079] Since the above different cost standards are measured in different units, the above indicators need to be dimensionless based on normalization, as shown in the following formula:

[0080] ;

[0081] represents the value of the i-th cost index after normalization, is the original i-th cost index, is the minimum value of the cost index in all paths to be evaluated, is the maximum value,

[0082] Finally, the total cost function of each trajectory is composed of the weighted sum of the normalized cost indexes, so as to evaluate and select the optimal tracking trajectory, and output the heading angle and speed control instruction information to the UUV carrier for tracking control. The total cost function formula is as follows:

[0083] ;

[0084] is a smoothness cost , a safety cost , a tracking distance cost , a tracking angle cost is a weight coefficient of the reference line cost

[0085] is a weight coefficient of the normalized reference line cost

[0086] is a weight coefficient of the consistency cost

[0087] represents a total cost function of the i-th trajectory

[0088] The cooperative algorithm submodule is an integration of cooperative control algorithms, mainly combines relevant historical key data information in the data record submodule, processes task instruction information output by the current mission analysis submodule, node state information received from the UUV carrier in the communication submodule, state information of each neighbor node of underwater acoustic communication, behavior control instructions output by the behavior decision submodule, and outputs unified standard control instructions to the communication submodule and transmits them to the UUV carrier bottom control unit to realize UUV motion control.

[0089] The fault detection and processing submodule receives error information of each submodule and performs comprehensive processing, including connection failure error of the communication submodule, task instruction analysis error of the mission analysis submodule, fault detection key information of the cooperative algorithm submodule. This module analyzes whether the UUV has a fault and its specific type through the analysis of the above information, and generates a unified standard fault processing control instruction to send to the cooperative algorithm submodule, and stores key fault data information to the data record submodule to provide data support for subsequent fault analysis and processing.

[0090] The data record submodule is responsible for storing key data of the system into a log file to support subsequent data analysis and processing, and facilitate the operator to trace the task execution process and analyze problems. At the same time, the submodule is also a public data area of the system, and the key data stored therein is called and stored by other submodules, effectively reducing the resource occupation of independent data storage of each submodule and improving the system running efficiency.

[0091] ​​The mission task is formulated by the commanding control personnel in the water surface mother ship / land-based command and control center through the host computer software, and the mission task text file with a standard format is issued to each node of the UUV based on the unified standard task instruction generated by the host computer software. The mission file contains the UUV group information and the topological relationship, supports centralized topology and distributed topology. In addition, it also contains the task mode, related mission task information such as key path points and task end recovery area information.

Claims

1. A distributed heterogeneous multi-unmanned underwater vehicle cooperative control module for target detection and tracking, the cooperative control module is installed in the UUV platform sealed cabin and powered by the UUV power management module, exchanges data with the UUV platform communication module and the shore-based platform through a unified standard communication protocol, does not participate in the UUV bottom layer control, a plurality of UUVs each carry a cooperative control module, and a distributed multi-UUV cooperative control system is formed, characterized in that, The cooperative control module comprises: A communication submodule, which provides a unified standard input and output interface for exchanging information with a UUV carrier and a shore-based platform; A mission analysis submodule, which analyzes task instructions based on a unified standard instruction set and supports static and dynamic task modes; A perception information processing submodule, which receives and processes target detection data from a sonar sensor, including target angle, signal-to-noise ratio and intensity; An action decision submodule, which determines the action strategy of the UUV according to the processed perception information and the task instructions; A cooperative algorithm submodule, which executes a control algorithm to generate a unified standard UUV control instruction; a fault detection and processing submodule, which monitors system errors and generates fault processing instructions; A data recording submodule, which stores key system data for other submodules to call and store to support subsequent analysis; The mission analysis submodule comprises: 1.1 Static task mode, which is used for searching for static targets in a region, and the execution process is completely pre-planned before the task starts, that is, each stage and execution order of the task is fixed; 1.2 Dynamic task mode, which is used for dynamic target search and tracking tasks, and is dynamically determined according to real-time environmental data or changes in the state of the task target, and is adjusted in real time according to the actual situation; The perception information processing submodule comprises: receiving task instruction information from the cooperative algorithm submodule to determine the executed task mode, receiving target perception information of neighbor nodes and detection information of the sensor of the node from the communication submodule, fitting and filtering the detection angle by using a sliding time window and a least square method to obtain the detection angle and the confidence of the detection angle, estimating the target speed, heading, relative distance and the confidence of the state estimation based on a boundary-constrained particle filtering algorithm, selecting high-confidence perception information as credible data after fusing the perception information of neighbor nodes, and delivering the processed perception information to the action decision submodule for action planning and control; The action decision submodule comprises: The action decision submodule receives the perception information received from the perception information processing submodule, selects an appropriate action strategy according to the current state of the UUV, judges whether the executed task is static or dynamic, and performs action planning according to a preset process when the executed task is a static task, and adopts at least one of the following action strategies: target search action decision, which is used for repositioning the target when the target is lost; target tracking decision based on bearing only, which is used for tracking when the target motion element analysis fails; target tracking decision based on motion behavior analysis, which is used for tracking when the target motion element analysis is effective.

2. The distributed heterogeneous multi-unmanned underwater vehicle cooperative control module for target detection and tracking of claim 1, wherein, The communication submodule comprises: 2.1 Input mission task information: containing the communication topology configuration of multiple UUVs, the target operation area and the target task, and output to the mission analysis submodule; 2.2 Input node state information, including UTC timestamp, position, speed, attitude and other key information of the module carrier UUV, which is used for cooperative control operation; 2.3 Input the node sensor detection information: The sonar detection sensor carried by the module carrier UUV receives detection data, including target angle, signal-to-noise ratio and intensity, etc. Key information is used for target state calculation and tracking; 2.4 Input neighbor node state information: The navigation state information of the adjacent UUV node, including UTC timestamp, position, speed, attitude and other key information, is used for cooperative control operation; 2.5 Input neighbor node target sensing information: The target information calculated by the adjacent UUV node using its own sensing information processing submodule for sensor detection data filtering and state estimation, including target speed, target heading, target relative angle and target relative distance, etc. Key information is used for UUV behavior planning control; 2.6 Output the node state information: The input information of the neighbor node, including the timestamp, position, speed, attitude and other key information of the node, is used for cooperative control operation; 2.7 Output the node target sensing information: The input information of the neighbor node, including the target detection angle, target calculated position, target calculated speed, target calculated heading and confidence after optimization by the sensing information processing submodule of the node, is used for cooperative target detection and tracking; 2.8 Output cooperative control instruction information: The control instruction information of the UUV calculated by the cooperative control, including the expected speed, navigation and depth information of the UUV body to be tracked, adopts a unified standardized instruction set, realizes the analysis and tracking of heterogeneous UUV platform control instructions.

3. The distributed heterogeneous multi-unmanned underwater vehicle cooperative control module for target detection and tracking of claim 1, wherein, The cooperative algorithm submodule, combined with the relevant historical key data information in the data record submodule, processes the task instruction information output by the current mission analysis submodule, the node state information received from the UUV carrier in the communication submodule, the state information of each neighbor node of underwater acoustic communication, the behavior control instruction output by the behavior decision submodule, etc. Output the unified standard control instruction to the communication submodule, and transmit it to the UUV carrier bottom control unit to realize UUV motion control.

4. The distributed heterogeneous multi-unmanned underwater vehicle cooperative control module for target detection and tracking of claim 1, wherein, The sensing information processing submodule further converts the neighbor node sensing information into data in the node coordinate system when necessary.

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