水下无人系统学报

Application of iSIGHT to Optimization Design of Torpedo Lineshape

SONG Bao-wei, LI Nan, HE Hui-jiang

2009, 17(1): 001-4. doi: 10.11993/j.issn.1673-1948.2009.01.001

[Abstract](1644) [PDF 599KB](773)

Abstract:
An optimization design scheme is crucial for torpedo, however, there has been no any such method recognized so far. This paper presents a method for torpedo lineshape optimization design based on the iSIGHT. In this method, the optimization strategies of simulated annealing algorithm and continuous quadratic planning method are adopted, and the fluid analysis software Fluent is integrated to calculate the fluid parameters of torpedo body lineshape. The comparison of the optimization results obtained by both the presented and the traditional methods shows that the torpedo lineshape optimization method based on the iSIGHT is satisfactory and feasible.

Current Development Status and Future Application of Navy UUVs

WANG Peng

2009, 17(1): 005-9. doi: 10.11993/j.issn.1673-1948.2009.01.002

[Abstract](2388) [PDF 626KB](1035)

Abstract:
Unmanned underwater vehicle (UUV) is becoming a new type of underwater operational platform, and has been concerned by all navies in the world. This paper discusses the current development status, structure, launching and recovery, and operational application mode of UUV are discussed, and analyzes some key techniques. As an information network node, UUV is the key equipment of the information network system and the key detecting and attacking equipment of the underwater system. The developing tendency of UUV is also discussed.

Fuzzy Control of Formation Coordination for Multiple AUVs

LIU Li, HUANG Wen-ling

2009, 17(1): 010-13. doi: 10.11993/j.issn.1673-1948.2009.01.003

[Abstract](1464) [PDF 438KB](621)

Abstract:
Based on the method of leader-follower in formation control and the kinematic characteristics, a fuzzy control approach is presented for obstacle avoidance of multiple autonomous underwater vehicle (AUV) formation under different underwater environment. This fuzzy control approach adopts the geometric relations of formation and introduces a virtual AUV to make the formation pass obstacles and arrive at destination. The formation system can keep initial formation shape or change formation shape according to the information of the obstacles in the sea. Simulation result demonstrates the effectiveness of the presented approach.

H_∞ Filter Technology in Integrated Navigation System of AUV

DUAN Shi-mei, KANG Feng-ju, WANG Yan-kai, HUANG Yong-hua

2009, 17(1): 014-17. doi: 10.11993/j.issn.1673-1948.2009.01.004

[Abstract](1908) [PDF 470KB](840)

Abstract:
To improve the autonomous underwater vehicle (AUV) navigation accuracy, strap-down inertial navigation system (SINS) , Doppler velocity sonar (DVS) and terrain aided navigation (TAN) were adopted in the AUV integrated navigation system. Mathematical models of the AUV integrated navigation system and an observation model of the chosen navigation sensors were built according to the system simulation data. An improved filter based on radial basis function (RBF) neural network for adjusting the information sharing factors was designed and implemented in the AUV integrated navigation system. Simulation results show that the navigation accuracy is improved obviously with the specified sensors andH_∞filter in the case of colored noise. The novel integrated navigation system can effectively suppress the divergence of the filter, improve the fault tolerance ability, and greatly raise the navigation accuracy.

A Wideband HFM Signal Detection Method Based on Wavelet-Radon Transform

YANG Chang-sheng, CHEN Hang

2009, 17(1): 018-21. doi: 10.11993/j.issn.1673-1948.2009.01.005

[Abstract](2211) [PDF 415KB](653)

Abstract:
Some animals uses the ultrasound with hyperbolic frequency modulation (HFM) form for echolocation. Hence the performance of underwater signal processing system can be enhanced by making use of the characteristics of the bionic signal. In this paper, the peak ridge characteristic of wideband bionic signal is described, then a detection method based on wavelet-Radon transform is presented, which converts the wideband echo detection into a linear detection on wavelet transform plain. Simulation results verify that the presented method makes full use of the characteristics of the wideband bionic signal, and the wideband HFM signal is applicable for underwater signal processing system.

Source Number Estimation Method Based on High Order Cumulant Informationn

SHU Xiang-lan, HAN Shu-ping, ZHOU Zhi-yong, MA Xin

2009, 17(1): 022-25. doi: 10.11993/j.issn.1673-1948.2009.01.006

[Abstract](1376) [PDF 408KB](564)

Abstract:
The estimation of the source number is very important for the high resolution array signal processing. A method of the source number estimation is proposed based on the fourth order cumulant information.By constructing the fourth order cumulant matrix of array output, the number of sources is estimated according to the eigenvalue of the fourth order cumulant matrix and the minimum description length(MDL) criterion. Owing to the blind Gaussian characteristic of the high order cumulant of the signal, the presented method can effectively suppress colored noise interference to realize the estimation of the source number in colored noise background. Simulation result verifies the validity of the new method.

A Method for Azimuth Resolution Improvement of Torpedo Acoustic Imaging Based on Complex Array

FAN Shu-hong, WANG Ying-min, YUE Ling

2009, 17(1): 026-30. doi: 10.11993/j.issn.1673-1948.2009.01.007

[Abstract](1430) [PDF 614KB](756)

Abstract:
The array-design and beam-forming method for torpedo automatic target recognition and intelligent precise guidance based on preformed dense beams and underwater acoustic imaging is investigated. Aiming at the characteristics of torpedo application, such as small aperture, limited space and hardware scale, etc., an unequal array and a beam-forming method based on the complex array are proposed. Compared with the traditional equivalent uniform linear array model of torpedo homing system, this method improves beam patterns, and enhances the azimuth resolution within the same limit of array aperture. Simultaneously, under the same condition of beam configuration, the elements of the array and the signal processing channels of the system are greatly reduced. Accordingly, the essential aperture of array and hardware required can also be reduced. Simulation results verify the validity and feasibility of this proposed method.

Hardware Design of Active Underwater Target Tracking System Based on DSP and FPGA

YAN Sheng-gang, MENG Qing-jun

2009, 17(1): 031-34. doi: 10.11993/j.issn.1673-1948.2009.01.008

[Abstract](1914) [PDF 509KB](663)

Abstract:
Digital signal processing system is the most important part in underwater target tracking system. This paper presents the hardware design of the signal processing system based on the high-speed digital signal processor (DSP) TS201 and field programmable gate array (FPGA). The block diagram of the hardware platform is given and the chips used in the system are introduced. The distribution of the DSP hardware resources is discussed. The designs for the interface between DSP and FLASH, the power supply and cooling device and the FPGA interface logic are performed. The hardware platform provides high performance digital signal processing, and the DSP software design task becomes easier through the proper FPGA interface logic. The experimental result shows that the hardware system can accomplish the time delay estimation of two underwater targets with high precision, and can meet the requirements of underwater target tracking system.

Application of Chaotic Detection Technology to Active Sonar

ZHOU Sheng, CHEN Wen-xin

2009, 17(1): 035-39. doi: 10.11993/j.issn.1673-1948.2009.01.009

[Abstract](1716) [PDF 671KB](1114)

Abstract:
A Duffing oscillator for detecting weak signal is designed to reduce power consumption and enhance security of the active sonar system. The Duffing equation expresses amplitude and frequency sensitive property when system transits from chaotic to periodic motion. The frequency sensitive property fits for extraction of weak frequency variation through simulation. CW pulse transmitted by active sonar is received to detect range and Doppler shift of echo simultaneously. We improve the Duffing oscillator detection in ultrasonic distance measurement. The measurement is adopted as a criterion of chaotic state. The Duffing oscillator can not detect target because of phase deviation. The solution to this problem is also proposed by time shifting. Computer simulation results show that this is a good time-domain signal processing method which has a lower signal to noise ratio limitation of -20 dB. Compared with the classical active sonar detection method, the presented method reduces the transmitter power consumption and enhances the security of system.

Application of Variable-Parameter PID Control to Closed Loop Control for Torpedo Turbine Engine

QIAO Hong, YI Yin, SHI Hai-chao

2009, 17(1): 040-43. doi: 10.11993/j.issn.1673-1948.2009.01.010

[Abstract](1937) [PDF 498KB](733)

Abstract:
Because torpedo turbine engine is more sensitive than torpedo piston engine to the variable working conditions, the turbine engine appears nonlinear behavior when the working conditions change,and the situation becomes worse when the working conditions change in large-scale,leading to difficult power control of the torpedo turbine engine.Therefore,a digital electronic controller of the turbine engine system is proposed in this paper,where a rotation speed signal of the torpedo turbine engine is used to uncouple the effect of rotation speed on controlled fuel flux,and a depth signal is adopted to compensate the variation gain of rotation speed.A variable-parameter proportional integral differential (PID) control algorithm is applied to achieve zero static state error control of the torpedo turbine engine rotation speed without over-adjusting the controlled objects.Simulation results show that the variable-parameter PID control algorithm makes the torpedo turbine engine speed change quickly without over-adjusting fuel flux and rotation speed in the whole process.

Estimation Method of Nozzle Exit Speed for Torpedo Turbine Engine

LUO Kai, DANG Jian-jun, WANG Yu-cai

2009, 17(1): 044-47. doi: 10.11993/j.issn.1673-1948.2009.01.011

[Abstract](1698) [PDF 466KB](775)

Abstract:
Open loop cycle underwater engine system is more sensitive to variable working condition than a piston engine system. In order to maintain the efficiency of the turbine engine system, higher nozzle efficiency is necessary. In this paper, by analyzing the working characteristics of an open loop cycle turbine engine system in a multi-speed torpedo, the parameters relationship is obtained, and the nozzle working characteristics in non-designed working condition is determined. According to the theories of thermodynamics and aerodynamics, the flow behavior when the gas passes the pressure wave at the nozzle exit section is analyzed, and an estimation method of the exit speed of a supersonic nozzle in an underwater turbine engine system is presented concerning the changes of gas speed and the direction. This method may be applicable to the turbine engine system optimization design and system modeling.

Modelling and Simulation of Interior Trajectory for Torpedo Swim-out Launching

OUYANG Hui-dan, CHENG Guang-tao, ZHANG Zhen-shan, ZHANG Ping-guo

2009, 17(1): 048-51. doi: 10.11993/j.issn.1673-1948.2009.01.012

[Abstract](1858) [PDF 460KB](690)

Abstract:
In order to discuss the possibility of torpedo(diameter: 534 mm) swim-out launching by the submarine torpedo tube in service, an interior trajectory model was set up in consideration of different resistances and the fact that the area ratio of the circular clearance cross-section of torpedo tube in service to the torpedo cross-section is small. The pressure difference of seawater compensation was defined and added to the model as a resistance parameter, and the launching process was analyzed. Based on the abnormal limited boundary condition in the swim-out torpedo tube, simulation was conducted to calculate the resistances of pressure difference and the flow losses according to different movement phases of torpedo in the constant section tube. Comparison of the test and simulation data verified the validity of the mathematical trajectory model, and proved that the current submarine torpedo tube could not launch the 534 mm torpedo.

Application of Course Estimation to Intercepting Wake Homing Torpedo

ZHAO Xiang-tao, SUN Xu-wen, LIN Zong-xiang

2009, 17(1): 052-55. doi: 10.11993/j.issn.1673-1948.2009.01.013

[Abstract](1909) [PDF 436KB](748)

Abstract:
For using suspended depth charge to intercept wake homing torpedo, this paper estimates the course of the coming wake homing torpedo via its ahead angle of attack, and discusses some relative questions about the application of suspended depth charge against wake homing torpedo. Simulation result illustrates that the course estimation of the coming torpedo is very effective to the surface ships in the defense against wake homing torpedo by using suspended depth charge.

Design of Geometric Operational Range Prediction System for Acoustic Homing Torpedo

LI Chen, NING Yong-cheng, YANG Gui-hai, ZHANG Shu-hong

2009, 17(1): 056-59. doi: 10.11993/j.issn.1673-1948.2009.01.014

[Abstract](2058) [PDF 464KB](736)

Abstract:
To predict the geometric operational range of an acoustic homing torpedo under different hydrological condition, this paper presents a method to determine geometric operational range by using sound ray density. This method is based on the Snell law of acoustic propagation in water. Different velocity gradients among linear layers in water are utilized to draw the sound ray chart, and a mathematical model of the geometric operational range is built. Furthermore, the geometric homing range is predicted with sound ray density, a prediction system of geometric operational range for acoustic homing torpedo is designed and the function of the system is realized through a system software. The sea trial demonstrates the prediction validity of the system.

Anti-submarine Operational Effectiveness Model and Simulation of Rocket-assisted Torpedo Guided by Shipboard Helicopter

ZHAO Xue-tao, JIA Yue, LIN Xian-jie

2009, 17(1): 060-63. doi: 10.11993/j.issn.1673-1948.2009.01.015

[Abstract](2274) [PDF 488KB](1117)

Abstract:
In order to analyze the anti-submarine effect of rocket-assisted torpedo guided by shipboard helicopter,this paper establishes an aerial trajectory model,an underwater trajectory model,and a target homing-detection model,and then constructs a calculating model of hit probability based on Monte Carlo method.Simulation result shows that rocket-assisted torpedo guided by shipboard helicopter is effective in anti-submarine.This research may offer a reference for the operational application of rocket-assisted torpedo to improve its operational effictiveness.

2009 Vol. 17, No. 1

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