水下无人系统学报

Progress of Underwater Plume Tracking Methods

XU Xue-han, MENG Qing-hao, LIU Ke-xian, JING Tao

2022, 30(1): 1-14. doi: 10.11993/j.issn.2096-3920.2022.01.001

[Abstract](166) [PDF 361KB](51)

Abstract:
There has been significant research on underwater plume for marine resource exploitation and environmental protection. Based on underwater plume dispersion modeling and tracking methods, the existing relevant research results, research progress, and development trend of underwater plume tracking were summarized. Firstly, the classification of underwater plumes and application background of plume tracking were presented. Subsequently, the research status of underwater plume dispersion modeling was reviewed from two aspects: The dispersion model and simulation platform. Thirdly, the current underwater plume tracking methods were divided into three categories, namely the reactive, probability estimation, and reinforcement learning methods, and the representative research were reviewed. Finally, the development trend of underwater plume tracking research was discussed. This review could provide a reference for further research on underwater plume tracking.

Current Situation and Enlightenment of Foreign Underwater Acoustic Countermeasure Equipment for Submarine

TANG Bo, MENG Di, FAN Wen-tao

2022, 30(1): 15-22. doi: 10.11993/j.issn.2096-3920.2022.01.002

[Abstract](175) [PDF 859KB](79)

Abstract:
In this paper, the current situation of foreign underwater acoustic countermeasure equipment for submarine was presented, and the development context of main public performance indexes, namely size, mass, maneuvering speed, operational depth of countermeasures, and acoustic performance, were studied. The enlightenment of foreign underwater acoustic countermeasure equipment for submarine to similar equipment development in China was presented, which includes 1) gradually reducing the size and weight of underwater acoustic countermeasure equipment; 2) continuously improving mobility and expanding new functions; 3) adapting to the use of outboard rapid launch quickly; and 4) timely adjusting the development focus of a greater depth and longer work. The relevant research can provide reference for the development of underwater acoustic countermeasure equipment for submarines in China.

Geometric Formation Condition of Internal Wave Attractors and Its Influence on Sound Fields

JIN Chen-kai, LI Xiao-wei, ZHANG Dan, LI Chun-xin, XIE Shao-rong

2022, 30(1): 23-28. doi: 10.11993/j.issn.2096-3920.2022.01.003

[Abstract](88) [PDF 2870KB](30)

Abstract:
The condition of the terrain is one of the major causes for the formation of internal wave attractors. These internal wave attractors, which induce a fluctuation of the isothermal surface and may result in a special sound velocity gradient field, usually exist in specific marine environments. To develop a novel communication and concealed way for undersea vehicles, research on the terrain conditions that generate internal wave attractors is necessary. In this study, the geometric constraints of stable internal wave attractors were derived by studying an incompressible viscous salt solution with a two-dimensional gravity field using the finite volume method. According to the relationship between sound velocity and temperature, the influences of internal wave attractors on sound velocity and sound velocity gradient fields were studied by introducing the temperature field control equation. The simulation results showed that, owing to the multiple reflections of the internal waves under a small disturbance, internal wave attractors will appear in a canyon region with a nearly right-angled trapezoidal cross section. When the water surface width and depth ratio of the canyon are in the range of 1 to 1.3, there is a specific trapezoidal section that can contribute a stable internal wave attractor, while the sound velocity gradient field presents a quadrilateral configuration, which can provide a specific communication and concealment site for undersea vehicles.

AUV Ultra-short Baseline Tracking Algorithm Based on Interactive Multi-Model Kalman Filter

ZHANG Xiao-fei, XIN Ming-zhen, SUI Hai-chen, LEI Peng, LIU Yi-cheng, YANG Fan-lin

2022, 30(1): 29-36. doi: 10.11993/j.issn.2096-3920.2022.01.004

[Abstract](127) [PDF 1314KB](48)

Abstract:
Owing to complex marine environments, the tracking and positioning of autonomous undersea vehicles (AUVs) that use ultra-short baseline may be affected by various errors, and a Kalman filter based on the minimum mean square error is usually used to process the dynamic positioning data. It is important to ensure the accuracy and reliability of the Kalman filtering to construct a motion model that matches the actual motion of the target. However, the AUV is characterized by strong maneuverability, which often renders it difficult to a priori determine a single motion model to achieve the matching of all motion states. To address the inability of the single-model based Kalman filter to adapt to all the motion states of an underwater target, an interactive multi-model Kalman filter(IMMKF) algorithm was used to process the ultra-short baseline tracking data of an AUV. Furthermore, a probability matrix transfer between motion models was used to enhance the adaptability of motion states. The experimental results showed that the IMMKF algorithm was better than the Kalman filter algorithm for a single model when the multi model set was constructed reasonably.

Underwater Concealed Navigation and Positioning Method Based on SINS and LBL

CHEN Ke-yu, HUANG Nan-yu, SU Wei, CHENG En

2022, 30(1): 37-43. doi: 10.11993/j.issn.2096-3920.2022.01.005

[Abstract](95) [PDF 872KB](35)

Abstract:
In the military and some civil fields, autonomous undersea vehicles(AUVs) are required to navigate in a concealed state. Therefore, in this study, the strap-down inertial navigation system(SINS) and long baseline(LBL) are integrated into a single system, in which an LBL beacon sends acoustic signals in different time slots according to a fixed order. After receiving the acoustic signals, the AUV calculates the translational position of each virtual beacon through the SINS. During navigation, the navigation error of the SINS can be corrected by the LBL underwater acoustic positioning information, and the corrected SINS position information can provide a more accurate virtual beacon translation for the LBL positioning. In the process of integrated navigation and positioning, multi-point LBL positioning is carried out by fusing node redundant information, which can improve the positioning accuracy; the historical redundant node is used to replace the missing node to ensure a normal measurement update. The integrated navigation system is verified using a MATLAB simulation. The simulation results showed that the AUV integrated navigation system based on SINS and LBL could fully suppress the pure inertial navigation error when the AUV was concealed, improve the navigation positioning accuracy, and save system energy. After using redundant information, the navigation accuracy, reliability, and fault tolerance of the system were further improved

Underactuated AUV Trajectory Tracking Sliding Mode Control with Input Limitation

LI Xin-bin, WANG Peng, LUO Xi, PANG Hong-tao

2022, 30(1): 44-53. doi: 10.11993/j.issn.2096-3920.2022.01.006

[Abstract](2613) [PDF 637KB](50)

Abstract:
Aiming at the horizontal plane trajectory tracking problem of the underactuated autonomous undersea vehicle (AUV) under external interferences and limited inputs, a sliding mode controller based on a nonlinear disturbance observer and radial basis function(RBF) neural network was proposed in this study. Firstly, the underactuated AUV kinematics model was transformed into an error kinematics model to stabilize the position error through a coordinate transformation. Secondly, the backward step method was used to design the bow-rocking angle virtual velocity control law to stabilize the attitude error. Subsequently, a nonlinear disturbance observer was used to estimate the disturbance of a time-varying ocean current, and the derivative of the virtual control law was estimated through a filter to avoid the “differential explosion” caused by the derivative of the virtual control law. Finally, an adaptive RBF neural network was designed to compensate the actual input of the underactuated AUV, and the Lyapunov stability proved that the signal used for the closed-loop tracking error was uniformly bounded. The simulation verified the effectiveness of the designed controller

Trajectory Optimization Method for a UUV Based on Minimum Snap

XIA Qian-xin, CHENG Wen-xin, CAI Wei-jun, XIE Bin, LIU Chao-wei

2022, 30(1): 54-60. doi: 10.11993/j.issn.2096-3920.2022.01.007

[Abstract](117) [PDF 592KB](40)

Abstract:
To solve the problem of polynomial trajectory deviation from the original straight path and to allow an unmanned undersea vehicle(UUV) to pass an obstacle area smoothly and safely, a polynomial trajectory optimization method for a UUV based on the seventh-order minimum Snap method is proposed. First, based on the initial path generated by the A* algorithm, reference points for trajectory optimization are selected according to the principle of the preview line. Next, the minimum Snap trajectory is fitted under the constraints of two different equations, and the intermediate balance point is added to the trajectory according to the continuity constraint for offset optimization. Indicators are set to evaluate the degree of offset before and after the optimization. Finally, a simulation experiment is performed in a constructed obstacle environment to obtain three different trajectories under the constraint of time consistency. The simulation results show that obstacles are avoided by the vehicle when it follows a trajectory under the zero constraint; however, this trajectory is a polyline. Furthermore, the trajectory in which the continuity constraint is considered is smoother; however, its offset is larger. The optimization method can generate a smoother trajectory with a smaller offset.

Field Weakening Control Method of Subsection Variable Quadrature Axis Voltage for Permanent Magnet Synchronous Motor

LIANG Yu, LIU Wei-ting, WEI Hai-feng, ZHANG Yi, LI Yuan-jiang

2022, 30(1): 61-67. doi: 10.11993/j.issn.2096-3920.2022.01.008

[Abstract](67) [PDF 1784KB](29)

Abstract:
When rescue detection equipment such as water-surface life-detection robots are in operation, their power supply voltage drops, which can cause them to enter a weak expansion state to improve maneuverability and stability. Under the condition of constant supply voltage, a single-current regulator control of the variable quadrature axis voltage method can effectively avoid the complexity of the control system caused by a double-current regulator, which maintains system control, improves the control efficiency, allows for the realization of a simple structure, provides safe control, and has a convenient effect. In this study, the feedback link of the field weakening control system and given method of variable quadrature axis voltage are improved, and a limit processing is added. A method of quadrature axis voltage setting is proposed, which divides the motor field weakening process into constant power field weakening and deep field weakening; in two parts, the quadrature axis voltage is adjusted in real time, in sections, to make the motor more robust in the deep field weakening state and improve its stability at high speeds. Through a Simulink simulation and an experimental data analysis, the reliability of the control method is verified.

Research on Propeller Cavitation Suppression Based on Pump Jet Rectification Mechanism

ZHAO Xiao-yu, WU Tian-long, LIN Xing-hua, WU Jian-guo, ZHANG Min-ge

2022, 30(1): 68-77. doi: 10.11993/j.issn.2096-3920.2022.01.009

[Abstract](27) [PDF 4886KB](22)

Abstract:

To prevent cavitation of underwater propellers and improve hydrodynamic performance, based on pump jet rectification mechanism, front and rear stators were installed for conduit propellers. The effects of front and rear stators on cavitation suppression, torque balance, and propulsion efficiency of conduit propellers were studied by computational fluid dynamics simulation analyses and experiments. The results showed that the front stator has an effect on cavitation suppression, and the relative bending has a significant effect on improving the propulsion efficiency, which can balance part of the roll torque. The rear stator has an effect on restraining cavitation in the wake area of the propellers. The section-chord diameter ratio and installation position has the greatest effect on improving the efficiency and torque balance of the propellers. Therefore, the noise level of the propeller can be reduced, cavitation performance can be optimized, and hydrodynamic performance can be improved by installing proper stators before and after the conduit propeller, which provides an important reference for future structural designs of the pump jet propellers.

Improved Algorithm of Connected Component Labeling for Unmanned Surface Vehicle Radar Images

PAN Xuan-ren, WANG Dong-jiao, YE Jia-wei

2022, 30(1): 78-84. doi: 10.11993/j.issn.2096-3920.2022.01.010

[Abstract](76) [PDF 1276KB](24)

Abstract:
When an unmanned surface vehicle(USV) equipped with a boat-borne radar navigates the water, the radar scans the environment near the water, and the radar image is used to identify the obstacles around the USV. To distinguish different obstacles, a connected component labeling algorithm is used to mark different obstacles in the radar image. Owing to the interference from clutter on radar imaging, the pixels in the radar image increase; thus, the results obtained from traditional algorithms to process the image are inadequate. Therefore, an improved algorithm is proposed to improve the function of removing the clutter pixels based on conventional algorithms and mark the biggest obstacle in the image. Compared with the traditional algorithm, the improved algorithm reduced the number of marked areas, and the processed radar images are smoother, which is convenient for the USV to detect the largest obstacle early such that avoidance maneuvers can be performed.

Analysis of Conducted Interference Mechanism of Pulse Heavy Load Circuit

GENG Zhi-peng, LI Jian-chen, LIU Chao-wei, LIN Xiao-chuan

2022, 30(1): 85-93. doi: 10.11993/j.issn.2096-3920.2022.01.011

[Abstract](86) [PDF 782KB](25)

Abstract:
A time-domain simulation study is performed to investigate the conducted interference of a pulse heavy load loop within an enclosed space of an undersea vehicle. Based on the working principle of the actual application circuit, a time-domain circuit model that can simulate the conducted interference on the loop power cable is established. Two simplified circuit models of different sources of interference form the generator rectification system and the pulseheavy load are established respectively. A line impedance stabilization network is used to obtain the circulation loop of the common differential mode interference signal. The time-domain waveform and spectrum characteristics curve of a common differential mode interference signal is also obtained. Through the parameter adjustment, we obtain different simulated waveforms of the interference signal. Subsequently, the influence of the parameters on the conducted interference noise is analyzed. The findings of this study provide a theoretical reference that indicates further measures to suppress the conducted interference.

Analysis of Acoustic Scattering Characteristics of Underwater Non Orthogonal Acoustic Corner Reflectors

XIE Tao-tao, LUO Yi, XIAO Da-wei

2022, 30(1): 94-101. doi: 10.11993/j.issn.2096-3920.2022.01.012

[Abstract](60) [PDF 688KB](25)

Abstract:
Underwater corner reflectors possess strong far-field acoustic scattering characteristics, and because of the assembly error, the standard orthogonal metal corner reflector cannot meet the absolute vertical of each plate. The production error is an important factor that affects the sound scattering characteristics of corner reflectors. The acoustic scattering characteristics of non-orthogonal corner reflectors were studied. The pinch theorem idea was used to change the angle between standard corner reflectors (90°, 85°, and 80°), and a qualitative analysis was performed. The structural modeling software ANSYS was used to model and mesh the non-orthogonal dihedral and trihedral corner reflectors. The acoustic simulation software SYSNOISE was used to analyze the acoustic scattering characteristics of non-orthogonal dihedral and trihedral corner reflectors. Furthermore, far-field acoustic scattering characteristics were simulated and analyzed by the structural finite element and fluid boundary element methods. The acoustic scattering characteristics were compared with standard orthogonal corner reflectors under similar loading and acoustic field conditions. The acoustic scattering intensity of the target under different incident angles of sound waves and variation law of the target intensity with the frequency of the incident sound waves were obtained. The results showed that the acoustic scattering characteristics of orthogonal corner and orthogonal dihedral corner reflectors were better than those of non-orthogonal corner and trihedral corner reflectors, respectively. The production error of the dihedral corner reflector was less than 2° and will not have a substantial impact on the acoustic scattering characteristics.

Passive Detection of Undersea Vehicle Acoustic Fuze Based on Energy Variation

ZHANG Jun, LI Rong-rong, ZHU Jian, WANG Ming-zhou

2022, 30(1): 102-108. doi: 10.11993/j.issn.2096-3920.2022.01.013

[Abstract](69) [PDF 528KB](48)

Abstract:
Aiming at the problem of real-time and effective detection of an acoustic fuze at the end of the intersection between an undersea vehicle and a moving target, a passive detection of acoustic fuze for undersea vehicles was presented, which used the fast-changing energy characteristics of the received noise radiated by target. The noise received by the undersea vehicle acoustic fuze was converted using the fast Fourier transform(FFT), and the energy of the noise in the working frequency band was calculated to obtain the signal energy changing curve. Finally, the energy curve was smoothed by the designed filter, and the slope of the curve was calculated. The results of the simulation and processing of the measured data showed that the slope of the signal energy curve can effectively reflect the energy change characteristics of the noise received by the acoustic fuze in the intersection process between the undersea vehicle and moving target, and the slope of the signal energy curve can be used as an important criterion for the shortest distance between the undersea vehicle and moving target and the best time for acoustic fuze to give out an action signal.

Optimization Analysis of Energy Storage Capacitor Parameters for Power Amplifier Circuit

ZHANG Yao-you, CHEN Ya-lin, ZHANG Kui, CHENG Xue-feng, WANG Xu

2022, 30(1): 109-114. doi: 10.11993/j.issn.2096-3920.2022.01.014

[Abstract](103) [PDF 1914KB](25)

Abstract:
The electromagnetic interference(EMI) filter of underwater acoustic detection equipment is used to suppress the power supply interference, reduce the electrical noise of the system, and improve the detection performance of the system. However, it affects the stability of the power amplifier. This study proposes to solve the problem of emission stability and optimize the electromagnetic environment of the detection system by connecting the energy storage capacitor at the output terminal of the EMI filter in parallel. Furthermore, the models of the EMI filter and power amplifier circuit and load were established. Subsequently, the influence of energy storage capacitor value on power amplifier circuit was analyzed, and a method for selecting energy storage capacitor parameters was proposed. The principal circuit was built, and the accuracy of the model and capacitor selection method was verified using experiments. The experimental results showed that when choosing the energy storage capacitor of the EMI filter of underwater acoustic detection equipment, the proposed model can be used to calculate a minimum energy storage capacitor value that meets the requirements of the power amplifier. The power supply quality of the power amplifier improves when a larger energy storage capacitor is chosen at the allowed cost, volume, and calculated minimum capacitance value.

Hydrodynamic Characteristics of UUV during Dynamic Deployment Process of Underwater Unmanned Platform

YANG Zhuang-tao, ZHANG Zhen, HE Wen-sheng, SHAO Yong-yong, ZHAO Rong-hua, MA Dian-bin

2022, 30(1): 115-121. doi: 10.11993/j.issn.2096-3920.2022.01.015

[Abstract](140) [PDF 1174KB](54)

Abstract:
Unmanned undersea vehicles(UUVs) can be easily interrupted by platform navigation during the dynamic deployment of unmanned platforms. Thus, it is important to study the hydrodynamic characteristics of UUVs during this process.?Based on a solution of Reynolds-averaged Navier-Stokes equations with the turbulence model, a numerical pool suitable for the study of the dynamic distribution and separation of multi-reference frame was established using overlapping grids and a multi reference frame model. A typical example study was compared with simulation results, and a model test was carried out. The results showed that the simulation error of this method was less than 8%, and the accuracy met the requirements of engineering applications. Finally, this method was used to simulate the dynamically deployed UUV from a large, unmanned platform, predict the hydrodynamic parameters of the UUV at this state, and make a comparative study with the parameters of a free navigation state. The results showed that the operability of the UUV in the deployment state was significantly less than that in the free state. The results of this study aid in the deployment process and control strategy designs.

Risk Assessment of Deployment and Recovery of Submarine Buoy System Based on Fuzzy Fault Tree

YANG Yu, YANG Wei-bing, LI Chen-yao, CAI Song

2022, 30(1): 122-127. doi: 10.11993/j.issn.2096-3920.2022.01.016

[Abstract](71) [PDF 391KB](26)

Abstract:
Aiming at the low success rate of submarine buoy deployment and recovery in marine environmental monitoring systems, this paper analyzes the potential risk sources in the process of submarine buoy system deployment and recovery combined with relevant literature and expert opinions. Based on the fuzzy fault tree analysis method, the relationship between the basic risk events and the deployment and recovery accidents of the submarine buoy system is obtained, and the possibility of accidents in the deployment and recovery process of the submarine buoy systems analyzed quantitatively. The occurrence probability and critical importance of each basic event are obtained, then the key risk sources in the deployment and recovery processes of the submarine buoy system are diagnosed, and the corresponding preventive measures are presented to improve the success rate of deployment and recovery. The simulation results showed that: 1) based on the fuzzy fault tree analysis method, the probability and key risk sources of the deployment and recovery accidents of the submarine buoy system can be obtained; 2) the basic events with a high probability are related to the deployment stage of submarine buoy system; 3) and the probability of basic events with a higher critical importance is also higher.

Profile Design Method of Reliability Test for Multi-Platform Launching Torpedo in Sea Trial

GUO Qing, PANG Duo, LIU Xiao-xi, LI Rong-rong

2022, 30(1): 128-134. doi: 10.11993/j.issn.2096-3920.2022.01.017

[Abstract](69) [PDF 523KB](30)

Abstract:
Aiming at the challenges of reliability verification and evaluation of the multi-platform launching torpedo in complex operation environments, a sea trial reliability profile design method was proposed. Based on the mission requirements of the torpedoes, the mission profile of an entire sea trial process for three types of torpedoes, namely tube-launched, airdrop-launched, and rocket-assisted-launched torpedoes, was systematically studied. The types of working environmental and induced environmental stresses in the sea trial mission profile were also analyzed. This study further presents the environmental stress analysis process of the torpedo sea trial reliability test. Combined with a torpedo historical fault analysis, this process determines the comprehensive environmental stress conditions to be considered in the sea trial reliability verification and presents a method of converting the environmental load spectrum into a torpedo sea trial reliability test profile. The proposed method is useful for verifying the sea trial reliability of torpedoes, reducing the risk in lake and sea trials, and provides a reference for making a reliability test scheme of multi-platform launching torpedoes.

2022 Vol. 30, No. 1

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