水下无人系统学报

Intercept Trajectory of Anti-Torpedo Torpedo Based on Meeting Area

WANG Xin-hong, LIU Qing, LIU Jian-guo

2013, 21(4): 241-245. doi: 10.11993/j.issn.1673-1948.2013.04.001

[Abstract](902) [PDF 262KB](622)

Abstract:
Intercept trajectory of anti-torpedo torpedo(ATT) is an importance factor influencing its operational application and intercept probability. In the study of the intercept trajectory of an ATT, it is usually supposed that guiding mode and motion parameters of an incoming torpedo are known. However, it is impossible in actual combat. Aiming at this situation, we propose the intercept trajectory of an ATT based on meeting area, and give a method to solve the ATT launching angle using two boundary conditions. Simulation results indicate that the intercept trajectory based on meeting area and the method of solving launching angle have higher adaptability for the situation that the guiding mode of an incoming torpedo is unknown.

A Numerical Computation Method of Additional Mass for Underwater Vehicle

ZHOU Jing-jun, LI Yu-ying, XIANG Qing-rui

2013, 21(4): 246-249. doi: 10.11993/j.issn.1673-1948.2013.04.002

[Abstract](1774) [PDF 725KB](1419)

Abstract:
A high-precision and high-efficiency method of computing additional mass for an underwater vehicle is pro-posed by solving the 3-D N-S equations based on the relative motion principle. This method is convenient to compute the additional mass for an underwater vehicle with complex shapes. The additional inertia force(moment) is achieved from the difference of hydrodynamics of fluids in unsteady and steady motions, then the additional mass is obtained. By adding the source term to the momentum equation, the unsteady flow field is solved to simulate the real structure of flow field, and the difficulty generated by complex grid rebirth in using the dynamic grid is avoided. The accuracy of the proposed method is also assured because of adopting the same grid. The validity of the proposed method is verified by the exact solution of ellipsoid.

An Assessment Method of Sea Trial Reliability for Torpedo in Commission

XIE Yong, YUAN Bing-cheng, MA Jun

2013, 21(4): 250-254. doi: 10.11993/j.issn.1673-1948.2013.04.003

[Abstract](952) [PDF 301KB](532)

Abstract:
The existing assessment of torpedo working reliability in sea trial is not accurate because of insufficient sample, an assessment method by combing the sea trial data of different batches of torpedoes with different service life is presented through analyzing annual torpedo sea trial data. Through the population inspection, the sample size is ra-tionally expanded, and the information for reliability assessment is increased. Thus, the precision of reliability assess-ment is improved. The example shows that the proposed method is convenient for engineering application.

A Conception of Anti-Torpedo Suspended Mine

ZHOU Jie, GAO Hong-lin, WANG Xin-hua

2013, 21(4): 255-257. doi: 10.11993/j.issn.1673-1948.2013.04.004

[Abstract](970) [PDF 159KB](856)

Abstract:
To develop new defensive measure of submarine against torpedo attack and improve its survival probability, a conception of anti-torpedo suspended mine is proposed. The basic principle of the suspended mine is elaborated, and the system configuration is designed. Further, the design principles of fuse and suspending mechanism are discussed in de-tail, and the action radius of the mine is calculated. The anti-torpedo suspended mine is expected to be a powerful weapon for submarine to defense torpedo attacks.

Parameter Estimation Based on Bat-inspired Signals with Logarithmic Frequency Modulation

JIA Ning, LIANG Hong, YANG Chang-sheng, DU Jin-xiang

2013, 21(4): 258-261. doi: 10.11993/j.issn.1673-1948.2013.04.005

[Abstract](973) [PDF 282KB](512)

Abstract:
Considering the remarkable target detection performance of a bat, the wideband ambiguity functions of bat-inspired signals with linear frequency modulation(LFM) and logarithmic time frequency modulation(LTFM) are analyzed. The results indicate that the time delay resolution of LTFM is more superior to that of LFM. The bat-inspired signal processing model based on the bat echolocation system is also discussed. A finite impulse response(FIR) linear filter bank with same Q value and different bandwidth is used to implement a cochlear filter. Conclusion is drawn that the bat-inspired signal processing model with LTFM can achieve better time delay resolution performance than the same model with LFM, and it behaves better in detection and parameter estimation.

Magnetic Dipole Tracking Based on Nonlinear Filtering Algorithm

WU Zhi-dong, ZHOU Sui-hua, CHEN Zhi-yi

2013, 21(4): 262-267. doi: 10.11993/j.issn.1673-1948.2013.04.006

[Abstract](963) [PDF 304KB](504)

Abstract:
To realize the magnetic dipole tracking with high nonlinearity characteristic, the estimation of magnetic di-pole′s position, magnetic moment, and velocity is formulated as a Bayesian estimation problem for dynamic systems. A recursive approach is proposed to evaluate the state parameter of the target. Based on the proposed method, the Gaus-sian-mixture sigma-point particle filter(GMSPPF) is adopted to realize the magnetic dipole tracking. The performance of the proposed method is verified through experiment. The results indicate that the proposed method can achieve higher tracking performance, and GMSPPF performs better in both estimation and computational efficiency than the particle filtering and sigma-point particle filtering algorithms.

A Passive Positioning Method Using Waveguide Invariant

HUANG Guan-qin, YANG Kun-de

2013, 21(4): 268-271. doi: 10.11993/j.issn.1673-1948.2013.04.007

[Abstract](1197) [PDF 2705KB](368)

Abstract:
Waveguide invariant is a scalar for characterizing the distance-frequency interference stripes, which is formed by the acoustic field due to mutual interference between different normal wave modes. Target can be passively positioned by the slope of the interference stripes and the frequency based on the definition of . In this paper, a method for calculating the slope of the interference stripes is presented by taking advantage of Sobel sharpening operator to detect pattern edge. First, the pattern of the interference stripes is divided into smaller parts to keep the slope of stripes in each part approximately constant. Then, the Sobel edge detection method is employed to select the intermediate value and calculate the slope in the frequency range of the smaller part, further to obtain estimation value of distance by using the formula of . Finally, the same on a different frequency range smaller pattern estimated value to the average to a more accurate estimation can be obtained by integrating the distance estimations of all smaller parts. Passive positioning of target can be realized by calculating the slope of interference stripes. Simulation result shows that the proposed method possesses a good performance in distance estimation, and the maximum relative error of target distance estima-tion is smaller than 10%. Lake trial indicates that the maximum error of its target distance estimation is smaller than 25 m.

Underwater Route Planning Based on Ant Colony Optimization Algorithm

ZHANG Yi, GAO Yong-qi, NIU Xing-jiang

2013, 21(4): 272-276. doi: 10.11993/j.issn.1673-1948.2013.04.008

[Abstract](1291) [PDF 3215KB](394)

Abstract:
To ensure the underwater terrain-aided navigation system can obtain sufficient terrain information on planned route, a route planning method is designed with the ant colony algorithm, and the underwater route planning for ter-rain-aided navigation is studied. The concept of feasible region is defined, and the pheromone representation, heuristic functions and pheromone updating rules are discussed in detail. Simulation with point-mass filter(PMF) is conducted, and the results show that the proposed route planning method can achieve good match in underwater terrain-aided navi-gation.

Formation Optimization of USVs for Positioning Underwater Target Based on Moving Long Baseline

CHEN Wei, YAN Wei-sheng

2013, 21(4): 277-281. doi: 10.11993/j.issn.1673-1948.2013.04.009

[Abstract](1183) [PDF 704KB](485)

Abstract:
In the positioning system with moving long baseline, formation of unmanned surface vehicles(USVs) and their relative position to the positioned target significantly influence the positioning accuracy. In this paper, we design an accuracy evaluation function based on spherical intersection method to investigate the factors influencing the positioning accuracy, such as the USVs formation, the relative position of target and the USVs formation, and the measurement pre-cision. Inference proves that the highest positioning accuracy can be achieved when the target is located in the perpen-dicular bisector of a square array which is composed of four USVs. Simulation result shows that USVs formation has a significant influence on the positioning accuracy.

Automatic Manipulation Technique of Charge and Discharge for Torpedo Power Battery

LI Wei, SUN Yun-chun, DENG Peng

2013, 21(4): 282-286. doi: 10.11993/j.issn.1673-1948.2013.04.010

[Abstract](889) [PDF 305KB](566)

Abstract:
Based on the analysis on existing automatic operation, control and detection technique of charge and dis-charge of torpedo power battery, a scheme of novel automatic manipulation system for charge and discharge of torpedo power battery is presented. The designs and implementation methods of the master control part, the signal transmission part, the power drive and execution part, the man-machine control interface, and the modularized power supply, as well as the overall structure and layout of the micro control unit (MCU), are explained. The charging process of 120 batteries in series shows that the system can realize the functions of overall automatic control, unmanned online remote monitor-ing of torpedo power battery charge and discharge with power-off protection, and automatic charge cut-off or recovery in the cases of abnormal parameters (such as sudden change of voltage or over-fast rise of temperature) and full capacity.

Thermal-solid Coupling Analysis of UUV Special Engine Piston

ZHANG Yu, ZHANG Jin-jun, LI Bin-mao

2013, 21(4): 287-292. doi: 10.11993/j.issn.1673-1948.2013.04.011

[Abstract](1217) [PDF 477KB](685)

Abstract:
To study the influences of temperature load and mechanical load on the piston stress and strain, a three-dimensional finite element model of the special engine piston for an underwater unmanned vehicle(UUV) is set up based on the finite element method by using the UG and ANSYS Workbench. The thermal analysis, static analysis and thermal-solid coupling analysis of the piston are performed on the ANSYS Workbench, thus the temperature field, stress field and strain distribution in the piston are obtained. The results show that under the influence of temperature, the stress and strain in the thermal-solid coupling analysis are larger than that in the static analysis, and their positions are different from those in static analysis. In addition, in the static stress/strain analysis of the piston, cracks usually appear first on the head of the piston. Simulation results show good consistency with the test ones.

Structural Dynamic Response Analysis of MK46 Torpedo under Underwater Explosion Load

WANG Jun, SUN Feng, CHEN Ge, ZHU Xiang-gang

2013, 21(4): 293-298. doi: 10.11993/j.issn.1673-1948.2013.04.012

[Abstract](1381) [PDF 376KB](667)

Abstract:
American MK46 torpedo is numerically simulated in different conditions. The dynamic response and shock environment of MK46 torpedo subjected to underwater explosion is calculated through acoustic coupling algorithm of ABAQUS. The torpedo damage effect is analyzed in different conditions, as well as the acceleration response and the shock environment of each node in different part. Finite element calculation results show that the head of MK46 torpedo is the weak part, and the stiffeners are destroyed firstly. The damage to the torpedo shell occurs when the impact factor is 1.33. There is a clear difference of node acceleration response between the surface facing blast and the surface back to blast, and the impact resistance of the torpedo internal equipment can be analyzed with the spectral parameters of nodes. The study may provide a reference for damage effect analysis and structure design of this kind of torpedoes.

Technical and Tactical Analysis of Two-Torpedo Salvo for Acoustic Homing Torpedo

ZHANG Jing-yuan, WANG Peng

2013, 21(4): 299-305. doi: 10.11993/j.issn.1673-1948.2013.04.013

[Abstract](953) [PDF 181KB](570)

Abstract:
For clarifying different understandings of two-torpedo salvo of an acoustic homing torpedo, the meanings and attributions of mutual-homing and mutual-interference are discriminated. Measures of salvo protection are analyzed, and the applicability of the measures to anti mutual-homing and anti mutual-interference is discussed. Considering opera-tional application, the possible tactical ways of two-torpedo salvo is analyzed. Thus the solutions to solve the technical and tactical problems in the two-torpedo salvo and the corresponding limitation are described. In addition, test items and test methods of salvo capability of an acoustic homing torpedoes are suggested.

General Model and Algorithm of Two-time Turn Angle Shooting of Torpedo for Predetermined Encountering Situation

LI Chang-wen, LI Ben-chang, CHU Lei

2013, 21(4): 306-312. doi: 10.11993/j.issn.1673-1948.2013.04.014

[Abstract](1224) [PDF 215KB](477)

Abstract:
To compute the parameters of two-time turn angle shooting of a torpedo for predetermined encountering situation, a general model satisfying the requirements of different shooting modes is constructed by considering possible special trajectory and torpedo velocity change. The formulas for Newton iteration algorithm are given. The correctness of the proposed model and algorithm is validated by numerical experiment, and the results indicate that the model and algorithm can satisfy the computation requirements of the shooting parameters for straight running, acoustic homing, wake homing, salvo, target selection, etc.

A Calculation Method of Surface Warship Damage Probability by Mobile Mine Obstacle

ZHU Hong-bo, ZHANG Xu, LENG Xiang-wen

2013, 21(4): 313-316. doi: 10.11993/j.issn.1673-1948.2013.04.015

[Abstract](1380) [PDF 331KB](585)

Abstract:
The dispersion characteristic of a mobile mine is analyzed according to error correlation, and an analytical model of damage probability of the mine obstacle to surface warship is proposed by considering the influencing factors such as the probability of success to deploy mine, the action probability, and the deployment error. Numerical results demonstrate the availability and correctness of the proposed method.

Operational Strategy for Helicopter with Dipping Sonar to Search Submarine

NI Chun-guang, CHEN Ying-chun, WANG Xian-hua

2013, 21(4): 317-320. doi: 10.11993/j.issn.1673-1948.2013.04.016

[Abstract](1108) [PDF 226KB](556)

Abstract:
The operational strategy for a helicopter with dipping sonar to search submarines under sea environment of thermo-cline is studied. The movement models of the helicopter and submarine are established, followed with the detection model of dipping sonar and the model of acoustic propagation model. The later considers the influences of sound velocity profile and sea bottom parameters. The influences of time delay of a helicopter, mission time of a helicopter, and merit factor of dipping sonar on the effectiveness of anti-submarine are analyzed based on Monte Carlo simulation, and the quantitative analysis result are given.

2013 Vol. 21, No. 4

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