High-speed unmanned ship-based water surface ship interception device and control method
Patent Information
- Application Number
- CN202610818103.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-06-08
- Publication Date
- 2026-10-30
Smart Images
Figure CN123002126A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a surface vessel interception device and control method based on a high-speed unmanned surface vessel (USV), belonging to the field of unmanned surface vessel technology. Background Technology
[0002] With the increasing demand for marine resource development and maritime security, maritime patrol, protection of important targets such as islands, reefs, ports, and ships, and interception of illegally intruding surface vessels have become the core tasks of maritime control.
[0003] Meanwhile, existing unmanned surface vessels (USVs) typically use ramming or lethal weapons to threaten and drive away targets. When applied to maritime control missions, USVs face a dual dilemma: on the one hand, their limited deterrence capabilities make it difficult to effectively block targets; on the other hand, excessive use of force may result in casualties.
[0004] Therefore, there is an urgent need for a surface vessel interception device that combines deterrence and effectiveness to provide effective support for unmanned surface vessels' patrol and interception missions in the sea. Summary of the Invention
[0005] The present invention discloses a surface vessel interception device for high-speed unmanned surface vessels, characterized in that it includes a high-speed unmanned surface vessel and a surface vessel interception device.
[0006] The surface vessel interception device includes: an aiming and turning mechanism, a launch tube, and a torpedo-type net projectile. The aiming and turning mechanism is installed on the deck at the stern of the unmanned surface vessel. The launch tube is connected to the aiming and turning mechanism. The torpedo-type net projectile is loaded into the launch tube and connected to the control and computing unit via optical fiber.
[0007] The torpedo-type net projectile comprises a warhead, a body, and a tail. Utilizing sensors and computing equipment onboard the unmanned surface vessel (USV), and combining multimodal information collection and processing, a control computing unit, and an Active Anti-jamming Control (ADRC) algorithm, the interceptor locks onto the target while the USV is in motion, adjusts the firing position and angle of the launch tubes, launches the torpedo-type net projectile, and controls its trajectory and attitude. After the net projectile hits the target, it releases the interceptor net, temporarily paralyzing the target's propulsion system by wrapping the net around a rotating component. The sensors onboard the USV collect environmental information and relevant data about the target in real time, including the target's relative position, navigation parameters, optical image of the target, and sonar information.
[0008] The aiming and slewing mechanism includes a fixed base, a slewing support assembly, a pitch adjustment module, a servo drive unit, an attitude detection module, and a launch tube connection frame. The fixed base is rigidly connected to the hull deck. The slewing support assembly is connected to the fixed base via a rotating shaft to form a rotating pair, enabling 360° horizontal slewing adjustment. The pitch adjustment module is fixedly connected to the slewing support assembly below and has a launch tube connection frame above it, enabling vertical pitch angle adjustment of the launch tube within a predetermined range. The attitude detection module integrates a tilt sensor and an angle encoder to collect the azimuth and pitch angles of the mechanism in real time. The servo drive unit includes a horizontal slewing servo motor and a pitch servo motor, providing power for the mechanism's movement. The slewing and aiming mechanism is also wired to the control and computing unit inside the unmanned surface vessel via a waterproof cable to lock onto the intercepted target.
[0009] The launch tube is connected to the rotation and aiming mechanism via a connecting frame, and includes a tube body, a high-pressure gas storage chamber, a pressure regulating module, and an electromagnetic launch valve. The tube body adopts a hollow cylindrical smoothbore structure, with fiber optic cable routing channels reserved on the side walls. The tube body is equipped with a high-pressure gas storage chamber, a pressure regulating module, and an electromagnetic launch valve. It launches the net projectile using compressed gas. After receiving the launch command from the control and calculation unit, the electromagnetic launch valve controls the gas release from the high-pressure gas storage chamber, providing an initial launch velocity for the torpedo-type net projectile. The pressure regulating module can adjust the gas chamber pressure according to the launch distance and the maritime environment to adapt to the launch requirements of different interception conditions. The internal ballistic model of the net projectile's aerodynamic launch is as follows:
[0010]
[0011] In the above formula, This refers to the pressure inside the high-pressure gas storage chamber before launch. This refers to the instantaneous pressure inside the launch tube during launch. For the volume of the gas storage chamber, The adiabatic coefficient of the gas inside the gas storage chamber. The cross-sectional area of the launch tube. This refers to the instantaneous displacement of the projectile within the launch tube during launch. The effective length of the launch tube. For the mass of the projectile, The coefficient of friction between the projectile and the launch tube wall. To aim at the pitch angle of the slewing mechanism, The ambient air pressure at the current location. The initial velocity of the projectile upon launch. This represents the instantaneous velocity of the projectile during launch.
[0012] The torpedo-type net projectile adopts a streamlined hydrodynamic structure design, and the overall structure is a three-section integrated structure consisting of the warhead, body, and tail.
[0013] The warhead's front end is fitted with a seeker head integrating sonar sensors and gyroscopes, along with a collision detection sensor. The rear side houses a storage cavity for the interceptor net, containing a foldable, high-strength interceptor net and a gas generator. The warhead body contains a control unit, a fiber optic cable bundle, and a cable deployment device. The tail section is equipped with a power unit, thrusters, servos, control rudders, fins, and a fiber optic interface. The tail power unit and thrusters are used to propel the warhead. The control unit receives commands from the main control computer and executes the ADRC algorithm. The servos, control rudders, and fins are used to control the trajectory and attitude of the interceptor net. The collision detection sensor, gas generator, and interceptor net are used to release the interceptor net.
[0014] The interception net is made of ultra-high molecular weight polyethylene and manufactured using a high-density twisted weaving process.
[0015] The present invention also discloses a control method for a surface vessel interception device for high-speed unmanned surface vessels, comprising the following steps:
[0016] S1: The unmanned surface vessel (USV) collects environmental information and target-related data using sensors mounted on its surface. The environmental information includes wind speed, wind direction, wave height, wave direction, and obstacle information. The target-related data includes the target's relative bearing, heading, speed, optical image, and sonar information. The control computing unit receives the collected multimodal information and processes the target vessel's optical image and wake sonar information using a convolutional neural network (CNN) algorithm to obtain flow field information around and under the target vessel. Based on this flow field information, the unit identifies the target vessel's propulsion system location as the target of the projectile.
[0017] S12: If the target vessel uses propeller propulsion, the control calculation unit identifies the coordinates of its propeller wake zone as the target position. The wake zone is concentrated on the propeller disk surface and within a range of 3 times the propeller diameter, extending laterally by 1.3 times the propeller diameter. If the target vessel uses waterjet propulsion, the control calculation unit identifies the flow acquisition zone of its waterjet propulsion inlet. The flow acquisition zone is the upstream inflow area at a cross-section with a nominal diameter one time before the inlet of the inlet channel, and the cross-sectional shape is semi-elliptical.
[0018] S2: The unmanned surface vessel (USV) tracks the target using its high maneuverability. When the distance between the USV and the target is less than the maximum range of the net projectile, the control calculation unit begins to calculate the launch parameters and the net projectile's trajectory. The slewing and aiming mechanism and the launch tube aim and lock onto the projectile's water entry point based on the launch parameters issued by the control calculation unit. The torpedo-type net projectile receives the trajectory parameters and enters the ready-to-fire state. The launch parameters include the elevation and azimuth angles of the aiming and slewing device, and the pressure inside the high-pressure gas storage chamber of the launch tube; the trajectory parameters include the three-dimensional coordinates of the projectile's expected water entry point, the target's position, and a set of three-dimensional coordinates of the expected trajectory path points.
[0019] S3: When the distance between the unmanned surface vessel and the target is less than half the maximum range of the torpedo-type net missile, the electromagnetic launch valve in the launch tube activates the high-pressure gas storage chamber to release high-pressure gas, and the torpedo-type net missile is launched into the water. After the net missile is launched into the water, the control unit activates the fiber optic communication link to communicate with the control and computing unit on the surface vessel via fiber optic cable, providing real-time feedback on its own heading, speed, position, and sonar information obtained by the seeker.
[0020] S4: The control calculation unit calculates the missile guidance control command based on the collected data and the missile guidance control equation, and transmits it back to the missile body control unit through optical fiber. The control unit updates the ballistic path point and navigation command according to the command. The net missile realizes real-time correction of ballistic deviation and its own attitude through the ADRC algorithm.
[0021] S41: The net-guided projectile uses a tracking method to ensure that the projectile's velocity vector always points towards the target, achieving a precise strike effect. The guidance control equation is:
[0022]
[0023] The above formula requires In the formula, the coordinate system is a local coordinate system constructed with the unmanned surface vessel as the origin, the x-axis is the baseline, and its positive direction is the positive direction of the projectile's forward movement. line of sight The line connecting the projectile and the target. The angle between the baseline x and the reference line. These represent the velocities of the projectile and the target, respectively. Represent the normal acceleration of the projectile and the target, respectively, and the lead angle. The directions of velocity of the projectile and the target are respectively represented by the line connecting them. The included angle and direction angle between them These represent the angles between the velocity directions of the projectile and the target and the baseline x, respectively.
[0024] S42: After entering the water, the net projectile adjusts and controls the attitude instability and trajectory deviation caused by ocean currents and waves in real time through the control rudder and fins. The control equation is:
[0025]
[0026] The above equation uses a projectile motion coordinate system established with the projectile's center of mass as the origin. For the mass of the projectile, Let x, y, and z represent the moments of inertia of the projectile about the x, y, and z axes, respectively. These are the longitudinal, transverse, and helical forces acting on the projectile. These represent the roll, pitch, and yaw moments acting on the projectile, respectively. The subscripts H and C indicate the hydrodynamic and control forces, respectively. Linear velocity, For linear acceleration, Euler angles, For Euler angular acceleration.
[0027] During the missile's flight, the control torque The hydrodynamic coefficients are mapped to the target deflection angle of the corresponding control rudder using the rudder effect model. The specific mapping relationship is as follows:
[0028]
[0029] in For hydrodynamic derivative, its subscript These represent the components controlling the rudder and fin, respectively. represents the horizontal rudder angle, represents the vertical rudder angle, Indicates the differential rudder angle.
[0030] The ADRC algorithm is used for closed-loop control of attitude and rudder deflection angle. The control model is as follows:
[0031]
[0032] In the formula, Depending on the controlled object, it can be used to represent the roll attitude angle, pitch attitude angle, or yaw attitude angle. This is the attitude angle command; These are the attitude angle, attitude angular velocity, and total disturbance observations, respectively. For extended state observer gain; For feedback control gain; To control the input gain; It is a nonlinear factor; For nonlinear functions, the threshold value for the linear interval is used. This corresponds to the rudder deflection angle for the corresponding channel. The control formulas for the roll, pitch, and yaw channels are isomorphic, and each outputs... Control the horizontal and vertical control rudders to achieve attitude stabilization and trajectory correction.
[0033] S5: When the net projectile hits the target area according to the predetermined trajectory, the collision detection sensor inside the projectile detects a valid collision signal and activates the gas generator. The gas generator generates a large amount of gas in a short time, which causes the internal pressure of the projectile to rise sharply. The high pressure forces the projectile casing to expand and break. At the same time, the interception net is released and deployed in the target area with the gas expansion. After deployment, the interception net will quickly wrap around the core rotating power components of the target ship, using the high strength and flexibility of the net to restrict its rotation, thereby temporarily paralyzing the power system.
[0034] Beneficial effects:
[0035] 1. The present invention discloses a surface vessel interception device and control method based on a high-speed unmanned surface vessel. By integrating an aiming and turning mechanism, a launch tube, and a torpedo-type net projectile on the high-speed unmanned surface vessel, and releasing an interception net after the projectile hits the target to entangle and restrict the rotating components of the target vessel's power system, it can effectively intercept and temporarily disable the target vessel under non-destructive conditions. It takes into account the requirements of interception deterrence, law enforcement effectiveness, and low-intensity disposal, and is more suitable for maritime law enforcement, warning and expulsion, and key target protection tasks.
[0036] 2. The present invention discloses a surface vessel interception device and control method based on a high-speed unmanned surface vessel. By combining optical images, sonar information and target motion parameters, the device identifies the position of the target vessel's power system and dynamically calculates the launch parameters and the trajectory of the net projectile. This enables rapid aiming and locking of the launch tube and continuous guidance correction after the projectile enters the water, thereby improving the target identification accuracy, launch hit rate and high-speed dynamic target interception success rate.
[0037] 3. Compared with the existing coast guard law enforcement system, the surface vessel interception device and control method disclosed in this invention, based on a high-speed unmanned surface vessel (USV), achieves the two beneficial effects mentioned above while saving on maritime surveillance costs, reducing the workload of personnel, and expanding the patrol range. Once the high-speed USV detects an intrusion, it can identify, pursue, and intercept the intrusion, requiring only personnel to be stationed at the control center and provide support when necessary. Fiber optic guidance enables data communication with the USV, reducing the requirements for projectile materials and autonomous capabilities, resulting in low overall cost. Attached Figure Description
[0038] Figure 1 A schematic diagram of a high-speed unmanned surface vessel (USV) based on a high-speed unmanned surface vessel interception device.
[0039] Figure 2 This is a schematic diagram of the overall structure of a torpedo-type net projectile;
[0040] Figure 3 This is a schematic diagram of a torpedo-type net-shaped projectile warhead.
[0041] Figure 4 This is a schematic diagram of the control process for intercepting high-speed unmanned surface vessels and surface ships.
[0042] Figure 5 This is a schematic diagram of a torpedo-type net-ball interception method;
[0043] Among them: 1—onboard computing equipment, 2—forward-looking sonar, 3—high-definition vision pod, 4—radar sensor, 5—aiming and turning mechanism, 6—launch tube, 7—torpedo-type net missile, 71—warhead, 72—missile body, 73—missile tail, 711—guide head, 712—interception net, 713—gas generator, 714—collision detection sensor, 8—high-speed unmanned surface vessel, 9—target vessel, 10—propeller, 11—propeller wake area, 12—waterjet propulsion, 13—waterjet propulsion wake area. Detailed Implementation
[0044] To better illustrate the purpose and advantages of the present invention, the invention will be further described below in conjunction with the accompanying drawings and examples.
[0045] like Figures 1 to 3 As shown in the figure, this embodiment discloses a surface vessel interception device for high-speed unmanned surface vessels, including a high-speed unmanned surface vessel and a surface vessel interception device.
[0046] The surface vessel interception device includes an aiming and turning mechanism 5, a launch tube 6, and a torpedo-type net projectile 7. The aiming and turning mechanism is installed on the deck at the stern of the unmanned surface vessel. The launch tube 6 is connected to the aiming and turning mechanism 5. The torpedo-type net projectile 7 is loaded into the launch tube 6 and connected to the control and computing unit via optical fiber.
[0047] The torpedo-type net projectile 7 includes a warhead 71, a body 72, and a tail 73. Utilizing sensors and computing equipment 1 installed inside the unmanned surface vessel (USV), and combining multimodal information collection and processing technology, a control computing unit, and ADRC algorithms, the interceptor locks onto the target while the USV is in motion, adjusts the firing position and angle of the launch tube, launches the torpedo-type net projectile, and controls its trajectory and attitude. After the projectile hits the target, it releases the intercept net, temporarily paralyzing the target's propulsion system by wrapping the net around a rotating component. The sensors inside the USV collect environmental information and relevant data about the target in real time, including the target's relative position, navigation parameters, optical image of the target, and sonar information.
[0048] The aiming and slewing mechanism 5 includes a fixed base, a slewing support assembly, a pitch adjustment module, a servo drive unit, an attitude detection module, and a launch tube connection frame. The fixed base is rigidly connected to the hull deck. The slewing support assembly is connected to the fixed base via a rotating shaft to form a rotating pair, enabling 360° horizontal slewing adjustment. The pitch adjustment module is fixedly connected to the slewing support assembly below and has a launch tube connection frame above it, enabling vertical pitch angle adjustment of the launch tube within a certain range. The attitude detection module integrates a tilt sensor and an angle encoder to collect the azimuth and pitch angles of the mechanism in real time. The servo drive unit includes a horizontal slewing servo motor and a pitch servo motor, providing power for the mechanism's movement. The slewing and aiming mechanism is also wired to the control and computing unit inside the unmanned surface vessel via a waterproof cable to lock onto the intercepted target.
[0049] The launch tube 6 is connected to the rotation and aiming mechanism via a connecting frame, and includes a tube body, a high-pressure gas storage chamber, a pressure regulating module, and an electromagnetic launch valve. The tube body adopts a hollow cylindrical smoothbore structure, with fiber optic cable routing channels reserved on the side walls. The tube body is equipped with a high-pressure gas storage chamber, a pressure regulating module, and an electromagnetic launch valve. It launches the net projectile using a compressed gas launch method. After receiving the launch command from the control and calculation unit, the electromagnetic launch valve controls the gas release from the high-pressure gas storage chamber to provide the torpedo-type net projectile with initial launch velocity.
[0050] In this embodiment, the pressure regulation module can adjust the air chamber pressure according to the launch distance and the marine environment to adapt to the launch requirements of different interception conditions. The internal ballistic model of the net-missile aerodynamic launch is as follows:
[0051]
[0052] In the above formula, This refers to the pressure inside the high-pressure gas storage chamber before launch. This refers to the instantaneous pressure inside the launch tube during launch. For the volume of the gas storage chamber, The adiabatic coefficient of the gas inside the gas storage chamber. The cross-sectional area of the launch tube. This refers to the instantaneous displacement of the projectile within the launch tube during launch. The effective length of the launch tube. For the mass of the projectile, The coefficient of friction between the projectile and the launch tube wall. To aim at the pitch angle of the slewing mechanism, The ambient air pressure at the current location. The initial velocity of the projectile upon launch. This represents the instantaneous velocity of the projectile during launch.
[0053] The torpedo-type net bomb 7 adopts a streamlined hydrodynamic structure design and is an integrated three-section structure consisting of a warhead 71, a body 72, and a tail 73.
[0054] The warhead 71 has an integrated sonar sensor and gyroscope-equipped seeker 711 and collision detection sensor 714 embedded at its front end, and a net storage cavity at its rear, housing a foldable high-strength net 712 and a gas generator 713. The warhead body contains a control unit, fiber optic cable bundle, and cable delivery device. The tail section is equipped with a power unit, thruster, servo motor, control rudder, fins, and fiber optic interface. The tail power unit and thruster are used to propel the warhead; the control unit receives commands from the main control computer and runs the ADRC algorithm; the servo motor, control rudder, and fins are used to control the trajectory and attitude of the net-warhead; the collision detection sensor, gas generator, and net are used to release the net.
[0055] The interception net is made of ultra-high molecular weight polyethylene and manufactured using a high-density twisted weaving process.
[0056] like Figure 4 , 5 As shown in the figure, this embodiment discloses a control method for a surface vessel interception device for high-speed unmanned surface vessels, including the following steps:
[0057] S1: The unmanned surface vessel (USV) collects environmental information and target-related data using onboard sensors. The environmental information includes wind speed, wind direction, wave height, wave direction, and obstacle information. The target-related data includes the target's relative bearing, heading, speed, optical image, and sonar information. The control computing unit receives the collected multimodal information and processes the target vessel's optical image and wake sonar information using a convolutional neural network (CNN) algorithm to obtain flow field information around and under the target vessel. This flow field information is then used to identify the target vessel's propulsion system location as the target for the net projectile.
[0058] S12: If the target vessel uses propeller propulsion, the control calculation unit identifies the coordinates of its propeller wake zone as the target position. The wake zone is concentrated on the propeller disk surface and within a range of 3 times the propeller diameter, extending laterally by 1.3 times the propeller diameter. If the target vessel uses waterjet propulsion, the control calculation unit identifies the flow acquisition zone of its waterjet propulsion inlet. The flow acquisition zone is the upstream inflow area at a cross-section with a nominal diameter one time before the inlet of the inlet channel, and the cross-sectional shape is semi-elliptical.
[0059] Preferably, in this embodiment, the control computing unit processes the optical image of the target ship using a CNN to obtain wake field information and then identifies the type of the target ship's propulsion system. If a propeller propulsion system is used, the optical image can identify a distinct periodic spiral wake structure formed at the stern of the ship; if a waterjet propulsion system is used, the optical image can identify the high-speed directional jet characteristics appearing at the stern of the ship. After determining the type of propulsion system, the control computing unit processes the wake sonar information of the target ship using a CNN, identifies the propeller wake region or the waterjet propulsion wake region according to the type of propulsion system, and sets the identified area as the projectile's target impact position.
[0060] S2: The unmanned surface vessel (USV) tracks the target using its high maneuverability. When the distance between the USV and the target is less than the maximum range of the net projectile, the control calculation unit begins to calculate the launch parameters and the net projectile's trajectory. The slewing and aiming mechanism and the launch tube complete the aiming and locking of the projectile's water entry point according to the launch parameters issued by the control calculation unit. The torpedo-type net projectile receives the trajectory parameters and enters the ready-to-fire state. The launch parameters include the elevation angle and azimuth angle of the aiming and slewing device, and the pressure in the high-pressure gas storage chamber of the launch tube. The trajectory parameters include the three-dimensional coordinates of the projectile's expected water entry point, the target's position, and a set of three-dimensional coordinates of the expected trajectory path points.
[0061] Preferably, in this embodiment, when the distance between the unmanned surface vessel (USV) and the target is less than 60 meters, the control calculation unit uses a pre-set target impact position as the center and the nearest impact point within 10 meters of the center as the projectile's water entry point. Then, the control calculation unit calculates the azimuth angle of the aiming and turning devices based on the relative position of the USV and the target, and calculates the projectile's launch trajectory based on the internal ballistic model of the aerodynamic launch of the net projectile, ensuring that the trajectory's impact point coincides with the projectile's water entry point, thus generating the internal ballistic model parameters of the launch trajectory. and This corresponds to the elevation angle of the aiming and gyration devices and the pressure inside the high-pressure gas storage chamber in the launch parameters. Before the net projectile is launched, the control calculation unit dynamically updates the launch parameters according to the method described above, based on the relative motion between the target vessel and the unmanned surface vessel.
[0062] S3: When the distance between the unmanned surface vessel and the target is less than half of the maximum range of the net missile, the electromagnetic launch valve in the launch tube activates the high-pressure gas storage chamber to release high-pressure gas, and the torpedo-type net missile is launched into the water; after the net missile is launched into the water, the control unit activates the fiber optic communication link to communicate with the control and computing unit on the surface vessel through the fiber optic cable, and provides real-time feedback on its own heading, speed, position and sonar information obtained by the seeker.
[0063] S4: The control calculation unit calculates the missile guidance control command based on the collected data and the missile guidance control equation, and transmits it back to the missile body control unit through optical fiber. The control unit updates the ballistic path point and navigation command according to the command. The net missile realizes real-time correction of ballistic deviation and its own attitude through the ADRC algorithm.
[0064] S41: The net-guided projectile uses a tracking method to ensure that the projectile's velocity vector always points towards the target, achieving a precise strike effect. The guidance control equation is as follows:
[0065]
[0066] The above formula requires In the formula, the coordinate system is a local coordinate system constructed with the unmanned surface vessel as the origin, the x-axis is the baseline, and its positive direction is the positive direction of the projectile's forward movement; Indicates the relative distance between the projectile and the target, line-of-sight angle. The line connecting the projectile and the target. The angle between the baseline x and the reference line. These represent the velocities of the net projectile and the target, respectively. Represent the normal acceleration of the projectile and the target, respectively, and the lead angle. The lines representing the velocity directions of the launched projectile and the target are respectively shown. The included angle and direction angle between them These represent the angles between the velocity directions of the projectile and the target and the baseline x, respectively.
[0067] S42: After entering the water, the net projectile adjusts and controls the attitude instability and trajectory deviation caused by ocean currents and waves in real time through the control rudder and fins. The control equation is:
[0068]
[0069] The above equation uses a projectile motion coordinate system established with the projectile's center of mass as the origin. For the mass of the projectile, Let x, y, and z represent the moments of inertia of the projectile about the x, y, and z axes, respectively. These are the longitudinal, transverse, and helical forces acting on the projectile. These represent the roll, pitch, and yaw moments acting on the projectile, respectively. The subscripts H and C indicate the hydrodynamic and control forces, respectively. Linear velocity, For linear acceleration, Euler angles, For Euler angular acceleration.
[0070] During the missile's flight, the control torque The hydrodynamic coefficients are mapped to the target deflection angle of the corresponding control rudder using the rudder effect model. The specific mapping relationship is as follows:
[0071]
[0072] in For hydrodynamic derivative, its subscript These represent the components controlling the rudder and fin, respectively. represents the horizontal rudder angle, represents the vertical rudder angle, Indicates the differential rudder angle.
[0073] The ADRC algorithm is used for closed-loop control of attitude and rudder deflection angle. The control model is as follows:
[0074]
[0075] In the formula, Depending on the controlled object, it can be used to represent the roll attitude angle, pitch attitude angle, and yaw attitude angle. This is the attitude angle command; These are the attitude angle, attitude angular velocity, and total disturbance observations, respectively. For extended state observer gain; For feedback control gain; To control the input gain; It is a nonlinear factor; For nonlinear functions, the threshold value for the linear interval is used. This corresponds to the rudder deflection angle for the corresponding channel. The control formulas for the roll, pitch, and yaw channels are isomorphic, and each outputs... Control the horizontal and vertical control rudders to achieve attitude stabilization and trajectory correction.
[0076] Preferably, in this embodiment, the control calculation unit receives sonar data from the net-missile feedback and first dynamically updates the target position of the missile by combining it with multimodal data collected by the unmanned surface vessel's sensors. Then, based on the missile's heading, speed, and position data, it calculates the missile's motion parameters and trajectory parameters using the tracking method guidance control equation. Finally, the missile's motion parameters and trajectory parameters are transmitted to the missile body control unit via optical fiber to update the trajectory path point and navigation commands. During the missile's flight, the missile's motion control equation serves as the controlled object model for the missile's attitude and trajectory response. The ADRC algorithm constructs a closed-loop control based on the roll angle, pitch angle, pitch angle, and trajectory deviation information fed back by the seeker in real time, outputting the corresponding rudder deflection angle. This angle is then driven by the servo motor and applied to the net-missile body, thereby suppressing and correcting attitude instability and trajectory deviation caused by disturbances such as ocean currents and waves in real time.
[0077] S5: When the net projectile hits the target area according to the predetermined trajectory, the collision detection sensor inside the projectile detects a valid collision signal and activates the gas generator. The gas generator generates a large amount of gas in a short time, which causes the internal pressure of the projectile to rise sharply. The high pressure forces the projectile casing to expand and break. At the same time, the interception net is released and deployed in the target area with the gas expansion. After deployment, the interception net will quickly wrap around the core rotating power components of the target ship, using the high strength and flexibility of the net to restrict its rotation, thereby temporarily paralyzing the power system.
[0078] The above detailed description further illustrates the purpose, technical solution, and beneficial effects of the invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A surface vessel interception device for high-speed unmanned surface vessels, characterized in that: Including high-speed unmanned surface vessels and surface vessel interception devices; The surface vessel interception device includes a targeting and turning mechanism, a launch tube, and a torpedo-type net projectile. The targeting and turning mechanism is installed on the deck at the stern of the unmanned surface vessel. The launch tube is connected to the targeting and turning mechanism. The torpedo-type net projectile is loaded into the launch tube and connected to the control and computing unit via optical fiber. The torpedo-type net projectile includes a warhead, a body, and a tail. It also relies on sensors and computing equipment installed inside the unmanned surface vessel (USV). Through a combination of multimodal information collection and processing, a control computing unit, and an Active Anti-jamming Control (ADRC) algorithm, the interceptor locks onto the target, adjusts the firing azimuth and angle of the launch tubes, launches the torpedo-type net projectile, and controls its trajectory and attitude while the USV is in motion. After the net projectile hits the target, it releases the interceptor net, temporarily paralyzing the target's propulsion system by wrapping the net around a rotating component. Sensors inside the USV collect environmental information and relevant data about the target in real time; this data includes the target's relative position, navigation parameters, optical image of the target, and sonar information. The aiming and rotation mechanism includes a fixed base, a rotation support assembly, a pitch adjustment module, a servo drive unit, an attitude detection module, and a launch tube connection frame; The launch tube is connected to the rotation and aiming mechanism via a connecting frame, and includes the tube body, high-pressure gas storage chamber, pressure regulation module and electromagnetic launch valve.
2. The surface vessel interception device for high-speed unmanned surface vessels as described in claim 1, characterized in that: The fixed base is rigidly connected to the hull deck; the slewing support assembly is connected to the fixed base via a rotating shaft to form a rotating pair, used to achieve 360° horizontal slewing adjustment; the pitch adjustment module is fixedly connected to the slewing support assembly below and equipped with a launch tube connection frame above, used to achieve vertical pitch angle adjustment of the launch tube within a predetermined range; the attitude detection module integrates a tilt sensor and an angle encoder to collect the azimuth and pitch angles of the mechanism in real time; the servo drive unit includes a horizontal slewing servo motor and a pitch servo motor to provide power for the mechanism's movement; the slewing and aiming mechanisms are simultaneously wired to the control and computing unit inside the unmanned surface vessel via waterproof cables to achieve target locking.
3. The surface vessel interception device for high-speed unmanned surface vessels as described in claim 2, characterized in that: The main body of the tube adopts a hollow cylindrical smoothbore structure, with reserved fiber optic cable channels on the side walls. The tube interior is equipped with a high-pressure gas storage chamber, a pressure regulation module, and an electromagnetic launch valve. It launches the net projectile using compressed gas. After receiving the launch command from the control and calculation unit, the electromagnetic launch valve controls the gas release from the high-pressure gas storage chamber, providing the initial launch velocity for the torpedo-type net projectile. The pressure regulation module can adjust the gas chamber pressure according to the launch distance and the maritime environment to adapt to the launch requirements of different interception conditions. The internal ballistic model of the net projectile's aerodynamic launch is as follows: In the above formula, This refers to the pressure inside the high-pressure gas storage chamber before launch. This refers to the instantaneous pressure inside the launch tube during launch. For the volume of the gas storage chamber, The adiabatic coefficient of the gas inside the gas storage chamber. The cross-sectional area of the launch tube. This refers to the instantaneous displacement of the projectile within the launch tube during launch. The effective length of the launch tube. For the mass of the projectile, The coefficient of friction between the projectile and the launch tube wall. To aim at the pitch angle of the slewing mechanism, The ambient air pressure at the current location. The initial velocity of the projectile upon launch. This represents the instantaneous velocity of the projectile during launch.
4. The surface vessel interception device for high-speed unmanned surface vessels as described in claim 3, characterized in that: The torpedo-type net bomb adopts a streamlined hydrodynamic structure and is an integrated structure consisting of a head, body, and tail.
5. A surface vessel interception device for high-speed unmanned surface vessels as described in claim 4, characterized in that: The front end of the mine's head is embedded with a seeker head and collision detection sensor that integrates sonar sensors and gyroscopes. The rear side is a storage cavity for the interception net, which houses a foldable high-strength interception net and a gas generator. The mine body contains a control unit, a fiber optic cable bundle, and a cable delivery device. The mine tail is equipped with a power unit, a thruster, a servo motor, control rudders, fins, and a fiber optic interface. The tail power unit and thruster are used to propel the mine. The control unit is responsible for receiving fire control computer commands and running the ADRC algorithm. The servo motor, control rudders, and fins are used to control the trajectory and attitude of the net projectile. The collision detection sensor, gas generator, and interception net are used to release the interception net.
6. A surface vessel interception device for high-speed unmanned surface vessels as described in claim 5, characterized in that: The interception net is made of ultra-high molecular weight polyethylene and manufactured using a high-density twisted weaving process.
7. A control method for a surface vessel interception device for high-speed unmanned surface vessels, implemented based on a surface vessel interception device for high-speed unmanned surface vessels as described in claims 1, 2, 3, 4, 5, or 6, characterized in that: Includes the following steps: S1: The unmanned surface vessel (USV) collects environmental information and target-related data through sensors mounted on the vessel. The environmental information includes wind speed, wind direction, wave height, wave direction, and obstacle information. The target-related data includes the target's relative bearing, heading, speed, optical image, and sonar information. The control and computing unit receives the collected multimodal information, processes the target vessel's optical image and wake sonar information using a convolutional neural network (CNN) algorithm to obtain the flow field information around and under the target vessel, and identifies the target vessel's propulsion system location as the target for the net projectile. S12: If the target vessel uses propeller propulsion, the control calculation unit identifies the coordinates of its propeller wake as the target position; if the target vessel uses waterjet propulsion, the control calculation unit identifies the flow acquisition area of its waterjet propulsion inlet, wherein the flow acquisition area is the upstream flow region at a cross section with a nominal diameter one time before the inlet of the inlet channel, and the cross section shape is semi-elliptical. S2: The unmanned surface vessel (USV) tracks the target using its high maneuverability. When the distance between the USV and the target is less than the maximum range of the net projectile, the control calculation unit begins to calculate the launch parameters and the net projectile's trajectory. The slewing and aiming mechanism and the launch tube complete the aiming and locking of the projectile's water entry point according to the launch parameters issued by the control calculation unit. The torpedo-type net projectile receives the trajectory parameters and enters the ready-to-fire state. The launch parameters include the elevation and azimuth angles of the aiming and slewing device, and the pressure inside the high-pressure gas storage chamber of the launch tube. The trajectory parameters include the three-dimensional coordinates of the projectile's expected water entry point, the target's position, and a set of three-dimensional coordinates of the expected trajectory path points. S3: When the distance between the unmanned surface vessel and the target is less than half of the maximum range of the net missile, the electromagnetic launch valve in the launch tube activates the high-pressure gas storage chamber to release high-pressure gas, and the torpedo-type net missile is launched into the water; after the net missile is launched into the water, the control unit activates the fiber optic communication link to communicate with the control and computing unit on the surface vessel through the fiber optic cable, and provides real-time feedback on its own heading, speed, position and sonar information obtained by the seeker. S4: The control calculation unit calculates the missile's guidance control commands based on the collected data and the missile's guidance control equations, and transmits them back to the missile body control unit via optical fiber. The control unit updates the ballistic path points and navigation commands according to the commands. The net missile uses the ADRC algorithm to realize real-time correction of its trajectory deviation and attitude. S5: When the net projectile hits the target area according to the predetermined trajectory, the collision detection sensor inside the projectile head detects a valid collision signal and activates the gas generator. The gas generator generates a large amount of gas in a short time, which causes the internal pressure of the projectile head to rise sharply. The high pressure forces the projectile head shell to expand and break. At the same time, the interception net is released and unfolded in the target area with the gas expansion. After unfolding, the interception net will quickly wrap around the core rotating power components of the target ship. The high strength and flexibility of the net body will restrict its rotation, thereby temporarily paralyzing the power system.
8. The control method for a surface vessel interception device for high-speed unmanned surface vessels as described in claim 7, characterized in that: The implementation method for step S4 is as follows: S41: The net-guided projectile uses a tracking method to ensure that the projectile's velocity vector always points towards the target, achieving a precise strike effect. The guidance control equation is: The above formula requires In the formula, the coordinate system is a local coordinate system constructed with the unmanned surface vessel as the origin, the x-axis is the baseline, and its positive direction is the positive direction of the projectile's forward movement; Indicates the relative distance between the projectile and the target, line-of-sight angle. The line connecting the projectile and the target. The angle between the baseline x and the reference line. These represent the velocities of the net projectile and the target, respectively. Represent the normal acceleration of the projectile and the target, respectively, and the lead angle. The lines representing the velocity directions of the launched projectile and the target are respectively shown. The included angle and direction angle between them These represent the angles between the velocity directions of the projectile and the target and the baseline x, respectively. S42: After entering the water, the net projectile adjusts and controls the attitude instability and trajectory deviation caused by ocean currents and waves in real time through the control rudder and fins. The control equation is: The above equation uses a projectile motion coordinate system established with the projectile's center of mass as the origin. For the mass of the projectile, Let x, y, and z represent the moments of inertia of the projectile about the x, y, and z axes, respectively. These are the longitudinal, transverse, and helical forces acting on the projectile. These represent the roll, pitch, and yaw moments acting on the projectile, respectively. The subscripts H and C indicate the hydrodynamic and control forces, respectively. Linear velocity, For linear acceleration, Euler angles, For Euler angular acceleration; During the missile's flight, the control torque The hydrodynamic coefficients are mapped to the target deflection angle of the corresponding control rudder using the rudder effect model. The specific mapping relationship is as follows: in For hydrodynamic derivative, its subscript These represent the components controlling the rudder and fin, respectively. represents the horizontal rudder angle, represents the vertical rudder angle, Indicates differential rudder angle; The ADRC (Active Disturbance Rejection Control) algorithm is used for closed-loop control of attitude and rudder deflection angle. The control model is as follows: In the formula, Depending on the control object used to represent the roll attitude angle, pitch attitude angle, or yaw attitude angle. This is the attitude angle command; These are the attitude angle, attitude angular velocity, and total disturbance observations, respectively. For extended state observer gain; For feedback control gain; To control the input gain; It is a nonlinear factor; For nonlinear functions, the threshold value for the linear interval is used. To correspond to the rudder deflection angle of the channel; The control formulas for the roll, pitch, and sway channels are isomorphic, and each outputs... Control the horizontal and vertical control rudders to achieve attitude stabilization and trajectory correction.
9. The control method for a surface vessel interception device for high-speed unmanned surface vessels as described in claim 7, characterized in that: The wake zone is concentrated on the propeller disk surface and within a range of 3 times the propeller diameter, extending laterally by 1.3 times the propeller diameter.