水下无人系统学报

Development of Underwater Gliders：An Overview and Prospect

SHEN Xin-rui, WANG Yan-hui, YANG Shao-qiong, LIANG Yan, LI Hao-zhang

2018, 26(2): 089-106. doi: 10.11993/j.issn.2096-3920.2018.02.001

[Abstract](2338) [PDF 2719KB](1808)

Abstract:
Abstract: As a kind of special autonomous undersea vehicle, the underwater glider(UG) dives along a saw-tooth trajectory by adjusting the buoyancy and maintains its gliding mode by making use of hydrodynamic force. It can realize continuous observation and detection in long range and large scale in the complex ocean environment. Therefore, UG plays an increasingly important role in the novel global ocean observation and detection systems. In this paper, the recent development status of underwater glider technology both at home and abroad is reviewed with emphases on the research progress of the single UG platforms and the corresponding core techniques. And the studies on UG’s dynamics and control are summarized. Moreover, according to the representative research achievements in the world, this paper gives an overview of the UG-networked observation technology, and elaborates the design, development and application of the compact low-power sensor used in UGs, as well as the development in data format and protocol of UG. In addition, development prospect of UG technology is presented concerning promotion of power consumption optimization, communication and intelligent level of UGs.

Technical Development and Operational Application of Unmanned Surface Combat System

LIN Long-xin, ZHANG Bi-sheng

2018, 26(2): 107-114. doi: 10.11993/j.issn.2096-3920.2018.02.002

[Abstract](1501) [PDF 1029KB](1539)

Abstract:
The unmanned surface combat system(USCS) is a kind of new concept navy weapon system,which has great significance in enhancing the operational capability and operational efficiency of naval forces. This paper introduces and analyzes the researches and applications of the USCSs, including U.S. Navy’s Spartan Scout, anti-submarine warfare (ASW) continuous trail unmanned vessel(ACTUV), unmanned surface and undersea vehicle Submaran S10, common unmanned surface vessel(CUSV), and Israeli Navy’s Protector and Silver Marlin. Furthermore, two technical development routes of shore-based and ship-based USCSs are discussed, and the technical development tendency and potential operational applications are analyzed. The main issues needing to be solved for deployment and operational application of USCS are raised, including rapid deployment and recovery, marine application safety, accurate target recognition, autonomous planning and command control, interoperability, environmental adaptability, and fault response. The purpose of this paper is to provide a reference for Chinese Navy in establishment and development of USCS.

Data Association Algorithm for Multi-target Tracking of Underwater Bearings-only Systems with Double Observation Stations

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

2018, 26(2): 115-121. doi: 10.11993/j.issn.2096-3920.2018.02.003

[Abstract](1615) [PDF 1095KB](443)

Abstract:
The bearings-only system with double observation stations generates a mass of false-location while locating multiple targets, which result in squared growth in the number of target measurement data and the number of false measurements. To solve this problem, this paper proposes modified nearest neighbor filter(MNNF) by adding a set of events according to nearest neighbor filter(NNF) with consideration of the fact that there is no effective measurement in the tracking gate. Then a modified probabilistic data association(MPDA) algorithm is also proposed by simplifying the calculation procedure of the joint probabilistic data association(JPDA) algorithm and weakly weighting all of the measurements in common area. Simulation is conducted to compare MPDA and MNNF, and the results show that both algorithms can help obtain satisfactory estimation result in the existence of “ghost points” in the bearings-only system with double observation stations, but MPDA performs obviously better than MNNF.

Unsteady Numerical Simulation on Motion Characteristics of Combination of Rocket and Separating-Capsules during Torpedo-Rocket Separation

BAI Zhi-ning, WANG Ming-zhou, WANG Lü, ZHOU Jing-jun, WANG Li-wen

2018, 26(2): 122-128. doi: 10.11993/j.issn.2096-3920.2018.02.004

[Abstract](794) [PDF 1911KB](696)

Abstract:
To study the motion characteristics of the combination of rocket and separating-capsules, a multi-body dynamics model during torpedo-rocket separation is established based on Lagrange method and is embedded into the flow field solver. Unsteady numerical simulation on the torpedo-rocket separation is performed using the overset mesh method. The validity of the numerical method is proved through comparison with the experimental results of rocket sled. The motion characteristics of the combination of rocket and separating-capsules under different separating conditions are analyzed through simulation. It is shown that the attitude of the rocket has significant effect on the open synchronism of the upper and lower separating-capsules’ during separation. And the aerodynamic characteristics of the rocket significantly influence its attitude change, i.e. when the separation attack angle is 1.5° or 0°, the rocket pitches up under the action of aerodynamic force, resulting in asynchronism of the separating-capsules. When the separation attack angle is –1.5°, the attitude of the rocket remains stable and the open synchronization of the separating-capsules keeps well. Thus the aerodynamics of the rocket as well as the interaction between the rocket and the separating capsules should be fully taken into account in design of torpedo-rocket separation scheme, and the separating condition should also be considered to improve the safety of separation.

Modeling and Simulation of Trajectory for AUV Swim-out Launch on Submarine

HUANG Su-he, WANG Kai-shuai, LIU Xing

2018, 26(2): 129-132. doi: 10.11993/j.issn.2096-3920.2018.02.005

[Abstract](814) [PDF 622KB](356)

Abstract:
Using torpedo launch tube for swim-out launch is the best method for submarine to launch an autonomous undersea vehicle(AUV). This study establishes the mathematical trajectory models of the AUV swim-out launch based on the launcher with backend water replenishment. The models include a submodel of internal trajectory of launch tube and a submodel of trajectory at the tube orifice. The feasibility of the AUV swim-out launch out of tube is verified by simulation, and the results show that the speed of a submarine, the launching speed, and the positive or negative buoyancy of the AUV are the main factors influencing the AUV swim-out launch. This study may provide a reference for swim-out launch of AUV through torpedo launch tube.

Performance Analysis of Underwater Modified Space-Time Adaptive Detection

LI Na, HAO Cheng-peng, SHI Bo, CHEN Dong

2018, 26(2): 133-139. doi: 10.11993/j.issn.2096-3920.2018.02.006

[Abstract](740) [PDF 640KB](351)

Abstract:
The modified space-time adaptive detection(STAD) is an adaptive processing method based on space-time joint processing. It is a sonar signal processing method for underwater target detection, and it can effectively solve the target detection problem in the background of reverberation. In this paper, to clarify the applicable conditions of the modified STAD, the reason why the cross term in the space-time steering vector of point target echo is not negligible is explained, then the mathematical relationship of the mismatch degree of space-domain steering vector with the number of elements and the azimuth of target is derived to provide the mathematical basis for quantitative analysis of the performance of the modified STAD. Further, the detection performance of the modified STAD is analyzed with Monte Carlo simulation method. The results show that the modified STAD is suitable for the case where the array elements are enough(more than 32）and the array normal is not aligned with the target, in this case the modified STAD can show better detection performance and robustness than traditional STAD.

3D Printing Injection Theory and Simulation Analysis of PBX Explosive

FANG Jian, HU Qiao, LIU Yue, WANG Chao-hui

2018, 26(2): 140-145. doi: 10.11993/j.issn.2096-3920.2018.02.007

[Abstract](565) [PDF 712KB](358)

Abstract:
To solve the problems in conventional shaping of PBX explosive, such as long time consumption, complex process, many control factors, and difficult forming of special-shapes, a novel 3D printing injection molding method is proposed based on the theory of 3D printing injection. The material to be formed is injected onto the substrate by the high precision injection mechanism, stacking point by point until a three-dimensional shape is obtained. In this paper, a theoretical model of single droplet contacting with substrate and droplet accumulation is established, and the factors influencing the surface roughness of the formed explosive are defined. These main factors, such as the nozzle diameter the striker stroke and the driving pressure, influencing the injection are found by simulation analysis using the software Fluent. In addition, orthogonal experiments are designed to determine the relationship among the factors, hence the simulation results are proved to be consistent with the theoretical analysis. This study may provide theoretical and methodological supports for integrated shaping of PBX explosive.

Simulation on Whip Phenomenon of Torpedo during Oblique Water Entry

ZHANG Yue-qing, CAI Wei-jun, LI Jian-chen, WANG Zhi-jie, PANG Duo

2018, 26(2): 146-151. doi: 10.11993/j.issn.2096-3920.2018.02.008

[Abstract](903) [PDF 1052KB](506)

Abstract:
To solve the problem of inaccurate calculation of torpedo’s initial trajectory, the water entry mechanism of a torpedo is analyzed. Based on the advantage of meshless method, finite element method(FEM)/smoothed particle hydrodynamics(SPH) coupling method is used to simulate torpedo’s large attitude motion process during oblique water entry. The correctness of the simulation model is verified by the experimental data. The whip phenomenon of torpedo during oblique water entry is analyzed, and the values of low pressure under different conditions are calculated and verified by theoretical formula. Results show that when a torpedo is entering into water, the area part under the torpedo head is trend to produce low-pressure effect, resulting in large-attitude downward motion and the whip. The low pressure causing the whip phenomenon is significantly affected by the angle of attack. The low-pressure value is larger and the duration of action is longer in the negative attack angle condition, compared with those in the positive attack angle condition. Therefore, in order to more accurately analyze and design the torpedo trajectory during water entry, the effect of the low pressure is necessary to be considered.

Magnetic Anomaly Calculation Model of Submarine Based on Induced Magnetic Field

LIU Hui

2018, 26(2): 152-156. doi: 10.11993/j.issn.2096-3920.2018.02.009

[Abstract](878) [PDF 576KB](558)

Abstract:
The magnetic anomaly of a submarine caused by geomagnetic induction is an important evidence for modern airborne anti-submarine measure. It is of great significance to study the magnetic anomaly for submarine protection. In view of the present situation that there isn’t complete calculation model for submarine induced magnetic anomaly, this paper regards the induced magnetic moment of submarine as the superposition of three orthogonal magnetic dipole moments by means of magnet simulation. According to the magnetization law of the ellipsoid model of a submarine in outfield, the magnetic moment expression of a submarine is derived, and then, the computational formula of submarine magnetic anomaly is obtained. Further, the simulation is performed to achieve the induced magnetic anomaly strength distribution of a submarine at high attitude area, and the result conforms to the actual situation, which verifies the correctness of the proposed calculation model.

Online Fault Diagnosis of AUV Sensor Based on RBF and OS-ELM Neural Networks

DUAN Jie, LI Hui, CHEN Zi-li, GONG Shi-hua, ZHAO Chao-wen

2018, 26(2): 157-165. doi: 10.11993/j.issn.2096-3920.2018.02.010

[Abstract](814) [PDF 979KB](284)

Abstract:
Sensor is an important component part of an autonomous undersea vehicle(AUV). Real-time and accurate online fault diagnosis of AUV sensors is of great significance to improve the safety of an AUV. This study analyzes the machine learning algorithms, and builds a radial basis function(RBF) neural network-based AUV sensor predictor with high accuracy and real-time performance. Subsequently, the online sequential extreme learning machine(OS-ELM) algorithm is applied to the online sensor fault diagnosis to improve the real time performance and accuracy of the predictor. Two kinds of fault diagnosis models are simulated and compared by using the sea trial data of AUV sensor, and the results show that the prediction accuracy and real-time performance of the OS-ELM neural network predictor with RBF neural network algorithm are higher than that of RBF neural network predictor. This research may provide a reference for the design of on-line fault diagnosis scheme of AUV control system.

Influence of Profile Radius of Guiding Cone on Recovery of AUV

ZHAO Guo-liang, XU Ke, ZHAO Chun-cheng, FAN Hua-tao, YAO Chen-jiao

2018, 26(2): 166-173. doi: 10.11993/j.issn.2096-3920.2018.02.011

[Abstract](691) [PDF 1184KB](477)

Abstract:
To reasonably design the recovery device’s guiding cone, whose shape and size are restricted for an autonomous undersea vehicle(AUV), the influences of the “elastic” and “elastic-damping” contact force models on the calculation are analyzed, and the influence of the guiding cone’s profile radius and initial offset on the recovery contact force and the recovery time are investigated, hence an evaluation method of the design of guiding cone is put forward. The general expression of six-degree-of-freedom motion and the contact force model are employed to establish the AUV motion equations in the recovery process, and a time discrete solution program that adapts to the contact force is designed to calculate the AUV recovery process on the software MATLAB. The results show that: 1) the damping in the contact model is conducive to the recovery process; 2) the increase in the profile radius has positive effect on reducing both contact force and recovery time, and 3) The comprehensive evaluation coefficient can be applied to comprehensively evaluating the design specification to determine the profile radius.

Application of LFM Signal to Torpedo’s Active Electromagnetic Fuze

ZHANG Yi-ke, XIAO Su-juan, YANG Yun-chuan, SHI Xiao-hai

2018, 26(2): 174-179. doi: 10.11993/j.issn.2096-3920.2018.02.012

[Abstract](880) [PDF 905KB](502)

Abstract:
Linear frequency modulation(LFM) signal has the advantages of anti-interference and strong resistance, so it has been widely used in radar, communication and torpedo homing. However LMF is a new signal system to torpedo electromagnetic fuze. In this paper, an electromagnetic fuze model of a torpedo is established, the working principle of LFM signal is expounded, the generation of LFM signal is investigated, and the amplitude frequency characteristic of echo signal is analyzed. The software MATLAB is adopted to simulate the anti-interference performance of LFM signal, and the results show that LFM signal can be applied to detection of torpedo active electromagnetic fuze.

Application of Uniform Design Method to Design of Torpedo’s Wake Homing Test

DENG Nan-ming, DENG Xin-wen

2018, 26(2): 180-184. doi: 10.11993/j.issn.2096-3920.2018.02.013

[Abstract](479) [PDF 311KB](248)

Abstract:
The factors influencing torpedo wake homing are analyzed to select the test design factors, the level of each factor of torpedo wake homing test is set up, and the design of torpedo wake homing test is carried out by the uniform design method. Compared with the previous design schemes with subjective randomness in selection of factors, level setting and combination, the uniform design method is more objective and rational, so the uniform dispersion of test points is greatly improved. Also, the uniform design method can significantly reduce, the test samples without reducing test effect compared with the comprehensive test design and the orthogonal design method, hence obvious economic benefit, high feasibility, and easy implementation can be achieved. This research may provide a reference for the design optimization of torpedo acoustic homing test.

2018 Vol. 26, No. 2

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