• 中国科技核心期刊
  • JST收录期刊

2018 Vol. 26, No. 6

Display Method:
Present Situation and Prospect of Underwater Multi-Target Tracking Technologies
ZHANG Si-yu, HE Xin-yi, ZHANG Chi, ZHU Lin, CHEN Shuang
2018, 26(6): 511-520. doi: 10.11993/j.issn.2096-3920.2018.06.001
Abstract:
Aiming at the unfavorable factors, such as the complexity of underwater hydrological conditions and the relatively small action distance, the key underwater multi-target tracking technologies based on respective data association and random finite set are discussed according to different principles of tracking filtering algorithms. The target motion models, tracking filtering algorithms and its applications status are expounded. The performances of two multi-target tracking technologies are analyzed. Three kinds of technical bottlenecks are analyzed, including the uncertainty of observation information due to failing to report and false alarm, the uncertainty of target number and motion state change in tracking process, and the poor real-time performance of tracking algorithm. The advantages of establishing a unified random finite set framework to describe the tracking problem and solve these bottlenecks are emphasized. Further, according to the requirements of operational application and ocean development, the development direction of underwater multi-target tracking technology is prospected to provide a reference for relevant researchers.
Development and Key Technologies of Preset Undersea Weapon: a Review
YANG Zhi-dong, LI Rong-rong, CAI Wei-jun, ZHENG Wei
2018, 26(6): 521-526. doi: 10.11993/j.issn.2096-3920.2018.06.002
Abstract:
Preset undersea weapon is regarded as a new form of future undersea attack and defense weapon equipment. Variety of payloads such as unmanned aerial vehicle(UAV), unmanned undersea vehicle(UUV), missile, torpedo which are used to perform tasks like reconnaissance, strike, area denial, etc., can be preset on a continental shelf or an island chain through preset undersea weapons for long time lurk, waiting for remote activation. This system aims to construct the multi-dimensional battlefield by taking the advantage of integrated resources of the land, maritime, undersea, air, space. In this paper, the characteristics, functions and key technologies of the preset undersea weapon are analyzed according to recent open reports and literatures. Eight key technologies are summarized, including remote activation technology, deep-sea long-term anti-pressure and corrosion protection technology, preset load launching technology, stealthy deployment technology, deep-sea detection and reconnaissance technology, underwater networking and communication technology, deep-sea energy self-sustaining and resupply technology, and auxiliary decision making technology. This article may benefit to promote the construction of undersea preset unmanned combat equipment in China.
Analyzing Water-Entry Impact Load on Torpedo with Different Head Types
LIU Hua-ping, YU Fei-peng, ZHANG Yue-qing, JIANG Bo-tai
2018, 26(6): 527-532. doi: 10.11993/j.issn.2096-3920.2018.06.003
Abstract:
The water entry process and underwater navigation of the ellipsoid head type torpedoes with different long-to-short axial ratio are numerically simulated with fluid volume function(VOF) multiphase flow model and dynamic mesh. The influence of head type on the maximum impact load characteristics of a torpedo during water entry process is analyzed. The functional relation of the maximum impact with the dynamic pressure of water entry and the long-to-short axial ratio of torpedo head is established. The results show that: 1) the maximum impact during water entry increases linearly with the square of the initial impact velocity; 2) with the long-to-short axial ratio of the head increasing, the maximum impact as well as its relative reduction decrease, and the resistance to the torpedo in underwater navigation also reduces. This research may offer a reference for torpedo’s water-entry trajectory and structure design.
Numerical Simulation on Acoustic Scattering Characteristics of Targets Buried in Fluctuating Seabed
YU Fu-jian, WANG Bin, ZHANG Pei-zhen
2018, 26(6): 533-536. doi: 10.11993/j.issn.2096-3920.2018.06.004
Abstract:
The acoustic scattering of buried elastic target under the bistatic condition is numerically calculated with the finite element method(FEM) on the COMSOL multi-physical field platform. A fluctuating seabed model is established by Gaussian spectrum method, and then the effects of fluctuation height, correlation length, grazing angle and other parameters on the acoustic characteristic of buried targets are obtained. The results show that the echo-to-reverberation ratio of the bistatic is fluctuant when sound enters in single direction while is received on a multi-point linear array. That is, for flat or gently fluctuating seabed, the forward waveform oscillates violently and presents quasi-periodicity, but the regularity of the echo-to-reverberation ratio fluctuation gradually disappears with the increase of seabed roughness. When a sound wave irradiates the seabed vertically, the variation of the correlation length of seabed fluctuation has a significant influence on the Rayleigh variance of the scattering energy, but has little effect on Rayleigh mean. If a sound wave enters obliquely, the correlation length and fluctuation height are the main factors affecting the Rayleigh variance and mean value. These results may provide a reference for acoustic detection of buried targets in seabed.
Transfer Alignment and Leveling Method Based on Characteristics of MINS Parameters
YANG Guan-jin-zi, LI Jian-chen, HUANG Hai, GUO Lin-na
2018, 26(6): 537-542. doi: 10.11993/j.issn.2096-3920.2018.06.005
Abstract:
The initial alignment time directly relates to the fast prefiring performance of a torpedo. The internal parameters of traditional alignment algorithm and leveling criterion are fixed, which results in longer alignment time and poor adaptation to different alignment conditions. To solve the problem, this study proposed an alignment and leveling method based on the characteristics of main inertial navigation system(MINS) speed injection parameters and horizontal attitude angle sloshing parameter. The back propagation(BP) neural network was used to identify these characteristics, and the internal specific parameters were online adaptively updated in real time. Hence, on the premise of guaranteeing the alignment accuracy, fast convergence rate of the filter and timely leveling judgment in different working conditions could be ensured. Comparative test shows that the proposed method can effectively accelerate the convergence rate of the detuning angle, adaptively design the leveling criterion according to different working conditions, and shorten the initial alignment time.
Simulation on Artificially Scattered Shooting Method of Anti-Frogman Killing Bombs
KOU Zhu, REN Lei, SUN Qing-sheng
2018, 26(6): 543-548. doi: 10.11993/j.issn.2096-3920.2018.06.006
Abstract:
In view of the problem that the traditional shooting method of anti-frogman killing bombs is not efficient, the factors affecting the shooting efficiency are discussed through error analysis, hence an artificially scattered shootingmethod is put forward. A scheme of concrete artificially scattered shooting and a calculation model of dispersion position for the killing bombs are built, then the damage probabilities of salvo of killing bombs using different shooting methods are comparatively analyzed. Simulation results show that: when the target distance is large, the proposed artificially scattered shooting method can gain the damage probability of salvo 20%~25% higher than the traditional shooting method. This research may provide a theoretical basis for improving operational capability of the anti-frogman killing bombs.
Simulation Analysis on Dynamic Characteristics of Fixture for Torpedo Cabin Vibration Test
WANG Hong-rui, CAO Xiao-juan, YIN Shao-ping, ZHANG Zhi-min, SHAN Zhi-xiong
2018, 26(6): 549-554. doi: 10.11993/j.issn.2096-3920.2018.06.007
Abstract:
The dynamic characteristics of the fixture directly affect the measurement in the vibration test of torpedo cabin. In this paper, theoretical analysis and numerical calculations of dynamic characteristics are carried out for three design schemes of fixture for torpedo cabin vibration test. The natural frequencies, vibration modes and vibration responses of the three fixture designs are calculated numerically, their dynamic performances are compared and analyzed to finally determine the right fixture, which can meet the transitivity requirement of vibration test of torpedo cabin. Conclusions are drawn as follows: 1) the stiffness, natural frequency and damping of these fixtures have the most prominent influences on their vibration transfer characteristics; 2) the monoblock cast fixture is better in the transitivity than the welded or the bolt-connected one; 3) the fixture designed on the basis of dynamic characteristics can better ensure the transmission of vibration energy without distortion.
Modeling and Simulation on Firing Efficiency of Rocket Assisted Torpedo under Mobile Acoustic Decoy Countermeasure
SUN Chang-cun, YUAN Peng, WANG Lü
2018, 26(6): 555-560. doi: 10.11993/j.issn.2096-3920.2018.06.008
Abstract:
According to the typical anti-submarine operational process of a rocket assisted torpedo under mobile acoustic decoy countermeasure, a countermeasure model of a submarine using mobile acoustic decoy to counter an incoming torpedo is built, and the counter-countermeasure strategy of the rocket assisted torpedo is analyzed.Taking acquisition probability as an assessment specification of firing efficiency, a firing efficiency model is also built based on Monte Carlo method. Through simulation and calculation, the effects of firing distance, firing mode and countermeasure on the firing efficiency are quantitatively analyzed. Simulation results show that the firing efficiency decreases with the increase of firing distance, and the firing efficiency can be enhanced effectively by means of firing at the front point of a target. This work may provide a reference for studying operational application method of a rocket assisted torpedo and developing its operational effectiveness.
An IMU Based Measurement Method of Launch Out-Tube Motion Parameters of Undersea Vehicle and Its Application
LIANG Qi-bing, WU Fei, SHI Li-ming, ZHANG Ping, ZHAO Hai-xiao
2018, 26(6): 561-567. doi: 10.11993/j.issn.2096-3920.2018.06.009
Abstract:
To accurately measure the out-tube motion parameters of an underwater launcher during launch testing of various undersea vehicles, a method for accurately describing the out-tube motion parameters of an undersea vehicle in launching was presented by using inertial measurement unit (IMU). The basic principle is that the accelerometer in the IMU module directly measures the real-time acceleration signal of the motion process, and the speed and displacement can be obtained indirectly through the numerical integration operation of acceleration. To obtain more accurate acceleration measurement, the gyro in the IMU was utilized to measure the deflection angle of each axis in the course of the launching motion of the undersea vehicle, and the deflection angle was used to remove the gravity component of the collected acceleration signal and to eliminate the acceleration measurement error. Then, the direct-current (DC) removal and the trend term preprocessing were performed on the collected acceleration signal to further improve the accuracy of the numerical integration operation on the acceleration signal to obtain the movement speed and the displacement. Based on the above theoretical analysis, test system was set up and repeated tests were conducted. The results show that this method successfully realizes the accurate description of the out-tube motion parameters of an undersea vehicle in launching.
Simulation on Detection Probability of Submarine-Launched Homing Torpedo Based on the Optimized Firing Model
YANG Xu-sheng, YIN Wen-jin
2018, 26(6): 568-574. doi: 10.11993/j.issn.2096-3920.2018.06.010
Abstract:
The firing triangle is the theoretical basis for calculating the firing advance angle of submarine-launched torpedo. With the development of torpedo technology and the need of battlefield, the application of traditional torpedo firing triangle becomes more and more limited. In this paper, the effects of torpedo velocity variation and target radiated noise on torpedo homing distance are considered, and an optimization model of the firing elements of submarine-launched acoustic homing torpedo, which is close to actual combat, is established, and a method for calculating the advance angle is deduced. According to this model, simulation of torpedo attack trajectory and calculation of detection probability are conducted, and the results show that this model is applicable to comprehensive battlefield situations.
Calculation Method of Failure Rate for Fault Tree Bottom Event Based on Expert Comprehensive Evaluation
LIU Jia, KOU Xiao-ming, WANG Kai-guo, LI Peng
2018, 26(6): 575-580. doi: 10.11993/j.issn.2096-3920.2018.06.011
Abstract:
It is particularly important to perform fault tree analysis on the vital cabin/system of a torpedo for improving diagnostic ability and torpedo reliability level. To solve the problem that it is difficult to obtain the accurate failure rate of bottom event in practical engineering, a fuzzy failure rate calculation method based on expert comprehensive evaluation is proposed in this paper. The analytic hierarchy process(AHP) and the relevant theory of fuzzy mathematics are used to calculate the failure rate of bottom event. By establishing a fault tree of “abnormal steering speed” in torpedo tail cabin, the failure rate of the bottom event is analyzed and calculated, and the feasibility of the method is verified. The failure rate calculated by this method can provide a reference for quantitative analysis of fault tree and a priori probability for Bayesian diagnostic reasoning. The analysis results can provide a reference for torpedo diagnosis and maintenance support.
The Technology of Feature-Aided Underwater Acoustic Fusion Detection
HAN Yi-na, YANG Yi-xin, LIU Qing-yu, MA Yuan-liang
2018, 26(6): 581-587. doi: 10.11993/j.issn.2096-3920.2018.06.012
Abstract:
To overcome the problems such as high clutter rate, dim target, and low detection rate of sensors in multi-static sonar network, increasing attention has been paid to the feature-aided underwater acoustic fusion detection technology, which suppresses the clutter by using the correlation between the features derived from echo and the target, and provides more suitable inputs to detectors. Based on the idea of track before detection, this paper reviews the recent progress of feature-aided tracking, focusing on echo feature-aided pre-processing techniques. Domestic contributions in related areas such as multi-static sonar localization, tracking, echo feature extraction and information fusion are further discussed. Finally, the issues that will be further studied in this field are pointed out, including the prototype system for obtaining test data, the suitable signal and information processing technology, and the enhancement of automatic fusion and tracking ability.
Underwater Target Azimuth Estimation Based on CS and Random Sonar Array
ZHANG Hong-mei, CHEN Ming-jie, LIU Hong-dan, SUN Xi-wei
2018, 26(6): 588-595. doi: 10.11993/j.issn.2096-3920.2018.06.013
Abstract:
The problem of underwater target azimuth estimation of linear passive sonar is studied. For the data processing algorithm, considering the fact that the underwater target’s orientation relative to all possible detection directions is sparse, the compressive sensing(CS) technology is adopted to design a method for estimating the underwater target azimuth. As for the structure of linear sonar, according to the mutual incoherence property(MIP) condition in CS theory, a kind of linear sonar array with sparse and randomly distributed elements is constructed. Simulation results show that the designed sonar array, combined with the target azimuth estimation method based on CS, can accurately identify the targets with concentrated spatial orientation in the condition of low signal-to-noise ratio underwater, and the targets with coherent source signal.
Effect of Three-Dimensional Temperature and Salinity Structure on Secci Disk Depth in South China Sea
DENG Mei-huan, HAO Zeng-zhou, GONG Fang, TAO Bang-yi, HE Xian-qiang
2018, 26(6): 596-604. doi: 10.11993/j.issn.2096-3920.2018.06.014
Abstract:
The experiment, navigation depth and sea route of an Unmanned Undersea Vehicle (UUV) are affected by ocean current, transparency, spring layer, seawater temperature and salinity, as well as other complex hydrological environments. Based on the information ow concept, this paper investigates the cause-effect relation between the three-dimensional temperature and salinity structure and the Secci Disk Depth (SDD) by using the data of satellite remote sensing and numerical model in South China Sea, which avoids the disadvantage of the traditional correlation analysis that the causal relationship among variables cannot be accurately described. The results show that: 1) The SDD in the area around the Zhongsha Islands and offshore with lower salinity is mainly affected by the salinity of the shallow sea water because the chlorophyll concentrations are high in the seawater with higher temperature and lower salinity; 2) Seawater of the area around the Nansha Islands with high temperature and low salinity, so the SDD mainly affected by the temperature of the seawater at a depth of 20-30 meters; 3) The SDD in the area around the Xisha Islands with higher temperature and salinity is mainly affected by the temperature and salinity of the seawater at a depth of 60-70 meters; and 4) Due to the influences of temperature front and suspended sediment, the SDD around Luzon strait is mainly affected by the temperature of the seawater at a depth of 30-50 meters. Therefore, it is suggested that UUV should navigate and conduct experiment beneath the depth with maximum SDD and keep away from the depth range, where the under-water three-dimensional temperature and salinity structure has significant impact on the SDD, in order to ensure its safety, reliability and invisibility.
Doppler Closest Point of Approach for Passive Sonobuoy Based on Least Square
ZHANG Li-chen, ZHANG Chi, ZHANG Xiao-liang
2018, 26(6): 605-611. doi: 10.11993/j.issn.2096-3920.2018.06.015
Abstract:
To improve estimation precision of the passive sonobuoy parameters, a least square based Doppler closest point of approach (CPA) is proposed. On the basis of the new Doppler CPA, Doppler information of the characteristic frequency in radiated noise of target is used to construct a rectangular matrix, and the least square principle is employed to obtain the least square solutions to the nearest distance and speed of a target. Then, the error of the algorithm is analyzed using Taylor expansion formula. Computer simulation and air experiments show that the proposed method can calculate the target parameters correctly, and compared with other algorithms of a passive sonobuoy, the precision of target parameter estimation is improved significantly.
Design on Mobile OFDM Underwater Acoustic Communication System for an AUV
LI Bin, ZHENG Si-yuan, CAO Xiu-ling, TONG Feng
2018, 26(6): 612-617. doi: 10.11993/j.issn.2096-3920.2018.06.016
Abstract:
For the serious effects of inter-carrier interference(ICI) and inter-symbol interference(ISI) caused by the multipath and Doppler shift on mobile orthogonal frequency division multiplexing(OFDM) underwater acoustic communication in underwater acoustic channel, the time-frequency differential coding, cross-correlation function and resample with variable sampling rate are adopted to resist the Doppler effect. Subsequently, a low-complexity mobile OFDM underwater acoustic communication system, which is easily implementable in engineering, is designed for an autonomous undersea vehicle(AUV). The communication system can avoid the residual Doppler compensation effectively, and it shows a certain degree of robustness to multipath channel. Sea trial results show that the system can work normally under shallow sea channel with complex multipath and certain Doppler effect, and realize mobile OFDM underwater acoustic communication.
Design and Test of a Cross-Media Underwater Acoustic Network Test Platform
ZHENG Si-yuan, LI Bin, CAO Xiu-ling, CHEN You-gan, TONG Feng
2018, 26(6): 618-622. doi: 10.11993/j.issn.2096-3920.2018.06.017
Abstract:
In view of the fact that many medium access control(MAC) protocols and routing protocols for underwater acoustic networks have been endowed with only simulation results due to the difficulty of real underwater network system test, a cross-media underwater acoustic network test platform is designed and constructed in order to evaluate and analyze the performances of underwater communication and network protocol in actual underwater environment. The design of this platform considers the application background of networked environment parameters acquisition in marine environment stereoscopic monitoring, and realizes the connection between underwater acoustic network and shore control center. The software and hardware implementation of the platform are introduced. Lake test result shows that the platform is effective in evaluating the performance of underwater acoustic network.
Bearing-Only Passive Location Based on Meta-Heuristic Algorithm
ZHAO Wei-kang, HAN Yi-na, YANG Yi-xin, LIU Qing-yu
2018, 26(6): 623-627. doi: 10.11993/j.issn.2096-3920.2018.06.018
Abstract:
Because the traditional bearings-only passive location approach based on the least square method cannot give much reliable location result, this paper explores the possibility of solving bearing-only passive location problem via the meta-heuristic algorithm, builds a corresponding mathematical model, and deduces a specific algorithm. Moreover, application of this method in underwater acoustic observation environment is simulated, and compared with traditional method. The result indicates that this method can achieve much better localization effect, compared with the traditional least square based passive location method.
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