水下无人系统学报

A Review of Underwater SINS/DVL Integrated Navigation Technology

ZHAO Jun-bo, GE Xi-yun, FENG Xue-lei, ZHOU Hong-kun

2018, 26(1): 002-9. doi: 10.11993/j.issn.2096-3920.2018.01.001

[Abstract](1754) [PDF 500KB](1548)

Abstract:
In recent years, the integrated navigation technology based on strapdown inertial navigation system(SINS) and Doppler velocity log(DVL) has been widely applied to autonomous undersea vehicle(AUV) navigation. This paper introduces the basic principle, coupling pattern, and application researches of the underwater SINS/DVL integrated navigation system, discusses three key technologies in detail, including data fusion, calibration, and DVL data failure processing, and predicts the developing tendency of underwater SINS/DVL integrated navigation technology and some technical problems. The purpose of this paper is to provide a reference for the research of underwater high-precision integrated navigation.

Research on Charge in Torpedo Warhead

LU Zhong-bao, Li Qin, MA Jun-li, WANG Ming-zhou

2018, 26(1): 010-15. doi: 10.11993/j.issn.2096-3920.2018.01.002

[Abstract](1027) [PDF 829KB](49708)

Abstract:
Warhead charge is an important tactical and technical specification for a torpedo. The selection of explosive type affect the damage power and charge security of the torpedo. In this paper, the energy release characteristics of torpedo warhead are analyzed. According to the characteristics of target and encounter condition, it is educed that the charge in torpedo warhead can release higher damage power if the anti-warship torpedo select high bubble-energy explosive, the anti-submarine torpedo select high detonation-velocity high detonation-pressure explosive, and the anti-torpedo torpedo select high shock-wave energy explosive. And the worldwide development and applications of explosive used in underwater weapons are introduced, the basic need of torpedo charge is determined considering damage power, security and charging technology. Further, in consideration of the degrees of risk of warhead power, the using occasion of different equipments, and the properties of explosive for different underwater weapons, some suggestions about explosive selection and application for different type of a torpedo are offered. This study may provide a reference for the research and development of torpedo warhead and underwater explosive.

Quantitative Analysis on Longitudinal Velocity and Wave Parameter of Wave Glider

SANG Hong-qiang, LI Can, SUN Xiu-jun

2018, 26(1): 016-22. doi: 10.11993/j.issn.2096-3920.2018.01.003

[Abstract](764) [PDF 1737KB](821)

Abstract:
The longitudinal velocity of a wave glider is influenced by the sea states. It is necessary to explore the relations of the longitudinal velocity of the wave glider with wave height and wave period for improving the dynamic performance of the wave glider. In this study, a dynamic model of the Sea Sentry wave glider was established to obtain the quantitative relation of its longitudinal velocity with the wave height or the wave period, and the simulation results of the longitudinal velocity were compared with the data obtained in sea trials. It is shown that the longitudinal velocity of the wave glider is proportional to the square root of the wave height when the wave period is constant, and is proportional to the reciprocal of the wave period at a certain wave height. In addition, the validity of the proposed dynamic model was verified. This study may provide the basis for structural parameter optimization and subsequent design of the wave gliders.

Modal Analysis of Undersea Vehicle′s Fuel Tank Using Virtual Mass Method

LIU Xu-hao, SHI Xiao-feng, YI Yin, LIANG Yue, YAN Hai, XUE Hua

2018, 26(1): 023-27. doi: 10.11993/j.issn.2096-3920.2018.01.004

[Abstract](533) [PDF 2874KB](410)

Abstract:
To suppress the structural resonance of fuel tank of an undersea vehicle, a finite element model of the fuel tank is established based on the virtual mass method. Simulation is performed to calculate the modals of the fuel tank in dry state and filling state, and the natural frequencies and the vibration modes of the first four orders of breathing modal are extracted to investigate the influences of different bulkhead positions on the vibration characteristics of the tank structure. Hence, the relationship between the position of bulkhead and the model′s maximum natural frequency is obtained. This research provides simulation data for structure design and performance improvement of the fuel tank.

A Feature Extraction Method of Ship-Radiated Noise Based on Sample Entropy and Ensemble Empirical Mode Decomposition

LI Yu-xing, LI Ya-an, CHEN Xiao, YU Jing

2018, 26(1): 028-34. doi: 10.11993/j.issn.2096-3920.2018.01.005

[Abstract](660) [PDF 735KB](303)

Abstract:
To realize the feature extraction of ship-radiated noise in complex ocean environment, the sample entropy is used to extract the features of three types of ship-radiated noise(SRN). Because the sample entropy only analyzes the SRN signal in single scale and it cannot distinguish different types of ships effectively, a new method of SRN feature extraction is presented based on sample entropy and ensemble empirical mode decomposition(EEMD). Firstly, three types of SRN signals are decomposed with EEMD, and the sample entropy of each intrinsic mode function(IMF) is analyzed to select the IMF sample entropy with the highest energy as the feature parameter. Then, by comparing the IMF highest-energy sample entropy of a certain number of the above three types of SRN signals with the sample entropy of SRN signal, it is discovered that the IMF sample entropy with the highest energy is at the same level for similar ship types, but is quite different for different ship types. Test results show that taking the IMF sample entropy with the highest energy as the feature parameter can obtain better separability for ships, compared with SRN sample entropy.

FPGA-Based High-Precision Underwater Docking via Sound Guidance

ZHAO Xu, CHEN Ya-lin, ZHANG Kui

2018, 26(1): 035-39. doi: 10.11993/j.issn.2096-3920.2018.01.006

[Abstract](782) [PDF 406KB](370)

Abstract:
For the underwater docking system of an unmanned undersea vehicle(UUV), the sound guidance technology has large operating distance but low precision, while the light guidance technology has high precision but short operating distance. In this paper, a high-precision underwater docking method via sound guidance based on the field programmable gate array(FPGA) is proposed, which precisely guide UUV via the sound guidance from a comparatively long distance to the operating range of the light guidance. Simulation and pool test show that this method can provide reliable guidance data with required accuracy. This study may facilitate the design of underwater docking systems.

Passive Tracking of Underwater Maneuvering Target Based on Double Observation Station

ZHAO Zhen-yi, LI Ya-an, CHEN Xiao, SU Jun

2018, 26(1): 040-45. doi: 10.11993/j.issn.2096-3920.2018.01.007

[Abstract](943) [PDF 772KB](333)

Abstract:
For tracking underwater maneuvering target, a passive tracking system with double observation station is used to solve the unobservable problem of single observation station due to tracking with bearing angle-only information. The target state equation and the passive observation equation are established. The extended Kalman filter(EKF) and the unscented Kalman filter(UKF) are combined respectively with the interactive multiple model(IMM) algorithm to serve the passive tracking system with double observation station. Simulation results show that both IMM-UKF and IMM-EKF algorithms can be applied to passive tracking of underwater maneuvering targets. The IMM-UKF algorithm exhibits higher stability and tracking accuracy than the IMM-EKF algorithm with the increase of measurement error.

Transient Temperature Field Analysis of Immersion-Type Brushless DC Motor

FU Pan, WANG Jian-ping

2018, 26(1): 046-52. doi: 10.11993/j.issn.2096-3920.2018.01.008

[Abstract](514) [PDF 2232KB](463)

Abstract:
To understand the transient temperature rise and the temperature distribution at end time of an immersion-type brushless DC motor with high specific power and short working time for an undersea vehicle, a temperature field model was established by using the software motor-CAD. The iron loss, ohmic loss and the current loss of the permanent magnet eddy were calculated, the temperature field of the motor was calculated at two different immersion temperatures. A comparative analysis of the transient temperature rise between copper and aluminum winding materials with different current density was carried out. The results show that the transient temperature rise of the immersion-type motor under different conditions is in accordance with the performance requirement of the undersea vehicle. This study may provide the basis for thermodynamic calculation in motor design.

Optimal Allocation Method of Testability Based on Seeker Optimization Algorithm

ZHANG Zhao-xu, WANG Zhi-jie, LI Jian-chen, WANG Gui-qi, XU Jun, YANG Jin-hou

2018, 26(1): 053-56. doi: 10.11993/j.issn.2096-3920.2018.01.009

[Abstract](525) [PDF 472KB](329)

Abstract:
Testability allocation is an essential part in the design of testability. The existing testability allocation methods have such disadvantages as complicated weight calculation, subjective determination of weight, and allocation results needing adjustment according to experience, which cannot reflect actual status of product accurately. In this paper, the seeker optimization algorithm(SOA), which has the advantages of good global searching capability, fast convergence and strong robustness, is employed to propose an SOA-based optimal allocation method of testability by taking the life cycle cost as an objective function and weighing the related influencing factors. The effectiveness and feasibility of the proposed method is verified by allocating the fault detection rate(FDR) among forty-one components in a torpedo control system. This research may provide a reference for optimization design of testability.

Application of Ship Static Electric Field to Ship Tracking and Positioning

SUN Bao-quan, Yan Bing, JIANG Run-xiang, ZHANG Jia-wei

2018, 26(1): 057-62. doi: 10.11993/j.issn.2096-3920.2018.01.010

[Abstract](496) [PDF 454KB](429)

Abstract:
The ship static electric field from corrosion anticorrosion current has obvious distribution feature and contains position information. It can be used to track ships. This paper discusses the feasibility of ship tracking and positioning with the ship static electric field. Firstly, a state space model of ship motion is established, the ship static electric field is modeled by point current method, and the ship is equivalent to a point current array. Then, four Kalman filter algorithms are analyzed and compared. Finally, the applicability of the classic Kalman filters to the electric field tracking is analyzed via simulation on the basis of the Beasy data. Simulation results show that the signal of the static electric field can be used to track ship effectively, and of the classic Kalman filter algorithms, the extended Kalman filter behaves best.

Discussion about Construction of Organization and Execution System Architecture for UUV Test and Evaluation

DONG Jin-xin, ZHANG Dong-jun, ZHANG Lei, LIU Hua-shen

2018, 26(1): 063-69. doi: 10.11993/j.issn.2096-3920.2018.01.011

[Abstract](692) [PDF 501KB](665)

Abstract:
This paper analyzes the requirements of unmanned undersea vehicle(UUV) test and evaluation, and further presents an overall scheme for constructing an organization and execution system architecture of UUV test and evaluation following the principle of “open, shared, authoritative, and efficient”. The system architecture includes the test and evaluation center, the test and evaluation system, the data-based process, and the integrated joint test mode. The fundamental elements are discussed with system engineering method in terms of the function, specification system of test and evaluation, working process, data, and so on. Moreover, some suggestions about UUV test and evaluation are offered to support the development of UUV equipment.

Application of Vibration Isolation Technology to Vibration Control of Undersea Vehicle Propulsion Shafting

DUAN Yong, GUO Jun, ZHOU Ling-bo

2018, 26(1): 070-77. doi: 10.11993/j.issn.2096-3920.2018.01.012

[Abstract](556) [PDF 2646KB](489)

Abstract:
The radiated noise caused by shell vibration from propulsion shafting via supporting bearings is the main noise source of undersea vehicle tail. According to the characteristics of undersea vehicle's propulsion shafting, the application of vibration isolation technology to vibration control of the propulsion shafting was investigated in this study. An elastic spline coupling and a metal-rubber vibration isolation device were designed, which could simultaneously reduce the vibration transmission from engine output part to tail shaft or from propulsion shafting through supporting bearings to undersea vehicle shell. Test was performed on the land test bed to verify the effect of the vibration isolation technology, and the results showed that the elastic spline coupling and metal-rubber vibration isolation device can effectively reduce the shell's vibration response to the propulsion shafting with the decrease of 9 to 11dB.

Effects of Rotor Parameters on Transient Process of Turbine

LI Chuan-xi, WANG Yun, DUAN Hao

2018, 26(1): 078-84. doi: 10.11993/j.issn.2096-3920.2018.01.013

[Abstract](663) [PDF 975KB](306)

Abstract:
Turbine is the core component of a turbo pump launching system. To reveal the effects of rotor system parameters on vibration of the turbine rotor system, the Lagrange equation is adopted to establish the differential equations of motion for the transient operation of the turbine rotor by considering the gyroscopic effect, support stiffness, support damp and structural damping of the system. The differential equations are solved, the effects of the parameters, such as unbalanced mass and acceleration, on rotor vibration are analyzed, hence the affecting rules of these parameters on rotor vibration are obtained. It is suggested that the unbalanced mass should be reduced as far as possible in engineering, and the gradient acceleration or positive exponential acceleration should be used to reduce vibration of the turbine. This study may provide a reference for the dynamics design of turbine rotor.

A Passive Positioning Method of Attacking Submarine Terminal Trajectory of Rocket-assisted Torpedo

ZHU Feng, LIU Song-hai, SU Jun

2018, 26(1): 085-88. doi: 10.11993/j.issn.2096-3920.2018.01.014

[Abstract](741) [PDF 434KB](312)

Abstract:
To effectively measure the terminal trajectory of a rocket-assisted torpedo attacking submarine, a passive positioning method based on the broadside array of submarine is presented. The composition and function of the measurement system are introduced, the target passive positioning algorithm is proposed, and the error in the measurement area is simulate to obtain the absolute and relative errors distribution map. Simulation shows that under the maximum angle measurement error of 0.3°, the measuring accuracy reaches 1% oblique distance in the range of submarine transverse angle ± 60° and in the area of target distance 65 m. This method may provide a reference for the overall design and measurement data processing of the passive terminal trajectory measurement system.

2018 Vol. 26, No. 1

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