水下无人系统学报

Development of Large Displacement Unmanned Undersea Vehicle in Foreign Countries: a Review

ZHONG Hong-wei, LI Guo-liang, SONG Lin-hua, MO Chun-jun

2018, 26(4): 273-282. doi: 10.11993/j.issn.2096-3920.2018.04.001

[Abstract](1888) [PDF 4254KB](2903)

Abstract:
Today, unmanned undersea vehicle(UUV) has become a“hot spot”equipment for navies all over the world, and they are devoting more and more attention to the research and development of large displacement UUV(LDUUV). Through a great deal of literature analysis, this paper introduces the development status and technical characteristics of the representative LDUUVs in the United States, Russia, Britain and Germany, focusing on the research progress, application, and important technical specifications of the typical LDUUVs in the United States, and looks into the future development trend of LDUUVs in terms of power, multi-task, autonomy, navigation and payload capacity.

Present Situation and Prospect of Trajectory Measurement Techniques for Underwater Weapons

ZHANG Si-yu, HE Xin-yi, ZHU Lin, LIU Yang, CHEN Shuang

2018, 26(4): 283-290. doi: 10.11993/j.issn.2096-3920.2018.04.002

[Abstract](842) [PDF 463KB](694)

Abstract:
Underwater weapon trajectory measurement system is based on underwater acoustic positioning technology. Its measurement accuracy of underwater trajectory is closely related to the performance evaluation of underwater weapon in terms of approval test, training and operational application. In view of trajectory measurement of underwater weapons with high precision, this paper sums up systematically the existing underwater weapon trajectory measurement techniques. According to the differences of physical field and application background, the existing measurement techniques are divided into three categories: 1) the active and passive underwater trajectory measurement techniques based on sound field; 2) the internal trajectory measurement techniques of underwater weapons based on inertial field; 3) the underwater trajectory measurement techniques based on optical field. Their technical principles and performance characteristics are discussed, respectively. Considering the developing trend of torpedo and other underwater weapons towards high maneuver and low noise as well as the demand for extending their operational training to open sea, development directions of the three kinds of measurement techniques are predicted to provide a reference for the research in this domain.

Comparative Study on Motion Simulation Methods of Cylindrical Buoys under Wave Action

YANG Zhuang-tao, ZHANG Tao, DUAN Hao, ZHU Min, SHAO Yong-yong

2018, 26(4): 291-297. doi: 10.11993/j.issn.2096-3920.2018.04.003

[Abstract](627) [PDF 764KB](518)

Abstract:
To study the motion response of cylindrical buoys induced by waves, the same buoy model is simulated by using two buoy motion simulation methods based on respective numerical wave sink and potential flow theory, and the results are compared with the sea trial data. Comparison shows that: 1) both methods have high solution accuracy for heave motion; 2) for the pitch motion, the method based on potential flow theory gives a correct prediction trend but with low accuracy, however, this method has the advantage of requiring less computing resource, so it can be used for preliminary design of the program; and 3) the method based on numerical wave sink has high solution accuracy but requires more computational resources, so it can used to guide fine design of buoys.

Dynamic Analysis Method of Folding Wing Based on LS-DYNA

NIE Wen-chao, CAI Wei-jun, ZHANG Yue-qing, GAO Shan, XU Xin-dong

2018, 26(4): 298-303. doi: 10.11993/j.issn.2096-3920.2018.04.004

[Abstract](613) [PDF 1868KB](492)

Abstract:
The folding wing has a short deployment time and a large impact load, and it has high requirement for positioning, locking and buffering devices of the wing deployment mechanism. The commonly used modular design method needs to simplify the structure, thus it cannot fully reflect the real system characteristics. This paper establishes a mathematical model of folding wing based on the simplified plane motion, and then establishes a finite element model by the LS-DYNA software, in which the influences of structural elasticity and friction are considered. The folding wing’s dynamics and structural strength are simulated comprehensively. The results show that the present method can simulate the shearing process of the positioning pin, the locking action and the unfolding process of the wing. As a result, the data of motion parameters are obtained, and the phenomenon of overshoot and vibration of the folding wing caused by large impact load and the structural elasticity after the wing fully deploys is observed. Therefore, the engineering design of the folding wing must satisfy the requirement of rapid deployment movement, and need to increase the structural strength to suppress the overshoot and vibration. This study may provide a reference for engineering design of the folding wing deployment mechanism.

Simulation Analysis on the Factors Influencing Measurement of Components in Oxyhydrogen Combustion Exhaust Gas

XIAO Bo, SUN Tao, ZANG Shun-lai, Gao Yu-ke, LIU Jing-yun

2018, 26(4): 304-309. doi: 10.11993/j.issn.2096-3920.2018.04.005

[Abstract](595) [PDF 475KB](375)

Abstract:
Oxyhydrogen combustion exhaust gas contains hydrogen, oxygen and a large amount of vapor, so preprocessing is necessary before the measurement of the oxyhydrogen component content in the exhaust gas with component analyzer. The preprocessing includes decompressing, condensing, argon filling, filtering and drying, which will inevitably affect measuring result. In this paper, the measuring process of the oxyhydrogen combustion exhaust gas is analyzed, and the factors influencing the measurement of the components in oxyhydrogen combustion exhaust gas are simulated by modeling the chemical equilibrium process of oxygen-hydrogen reaction in the conditions of hydrogen enrichment, oxygen enrichment and equivalence ratio, respectively. And then, analysis and modeling of each pretreatment process is carried out. The results show that: 1) the major influencing factor is the environment temperature; 2) the higher the environment temperature is, the lower the measured oxyhydrogen combustion efficiency becomes; 3) the real combustion efficiency is lower than the measured one; and 4) the real combustion efficiency in hydrogen enrichment condition is lower than that in other conditions at the same environment temperature. In addition, some suggestions are offered to improve the accuracy of the measurement.

Underwater Localization Method of AUV Based on Single Beacon Bearing-Only Measurement

LI Jia-tong, ZHANG Chen, ZHANG Hong-xin

2018, 26(4): 310-315. doi: 10.11993/j.issn.2096-3920.2018.04.006

[Abstract](1075) [PDF 585KB](503)

Abstract:
Under the condition that the depth of a beacon is known, a real-time positioning method of an autonomous undersea vehicle(AUV) is presented based on single beacon bearing-only information measurement to solve the problem of single beacon AUV underwater localization. Different from the traditional method based on single beacon ranging information, the coordinate transformation principle is adopted to construct a 2-degree of freedom(2-DOF) attitude AUV motion model, and a state space model of bearing-only AUV localization problem is derived under the condition of knowing depth. Based on the established models, the extended Kalman filter(EKF) is used to solve the problem, and a filter parameter adjusting method is presented for the application of EKF algorithm. The validity of the proposed method is verified by a simulation experiment. Comparison between the proposed method and the existing method shows that the proposed method based on single beacon bearing observation model is better in filtering accuracy than that based on ranging information, and its convergence performance is superior to that of the latter.

Torpedo Near-Field Positioning Technique Based on Dynamic Magnetic Measurement and Magnetic Dipole Inversion Model

XU Zheng, LI Wei, QIN Nan, MA Qi

2018, 26(4): 316-323. doi: 10.11993/j.issn.2096-3920.2018.04.007

[Abstract](598) [PDF 1517KB](499)

Abstract:
To enrich torpedo near-field positioning method, a new torpedo near-field positioning technique is proposed based on dynamic magnetic measurement technique(DMMT) and magnetic dipole inversion positioning model, and corresponding measurement system is constructed. The results of onshore test show that this technique can realize accurate location of the moving magnetic source in near field, and the measurement system has high accuracy and stability. This technique may provide a reference for the research of end-trajectory and miss distance measurement in torpedo shooting range construction and relative situation judgment of pass target.

Design and Implementation of Visualized Underwater Noise Source Recognition System

QI Qian, CHEN Hang, ZHOU Biao

2018, 26(4): 324-329. doi: 10.11993/j.issn.2096-3920.2018.04.008

[Abstract](684) [PDF 1284KB](461)

Abstract:
visualized underwater noise source recognition method is an effective acoustic field inversion, which can directly obtain the spatial distribution of underwater structural noise sources. Aiming at the problem that there are many kinds of noise sources and complex spectrum components of underwater weapons, the noise source recognition system based on a single algorithm can’t satisfy the practical engineering application simultaneously, a visualized recognition system of underwater noise sources is designed by combining beamforming and near-field acoustic holography on the virtual instrument software platform LabVIEW. By analyzing the relationships of the distribution of propagation wave and evanescent wave in underwater acoustic field with the measured distance and the radiation frequency, the variation rule of the propagation and evanescent waves in underwater acoustic field is obtained, and the evanescent wave propagation distance is hence determined. The visualized noise source recognition method is studied under different measurement distance, radiation frequency and array size. Visualization experiment of noise source recognition is conducted in terms of channel calibration, data acquisition, sound field beam directivity, sound field reconstruction data analysis, and noise source visualization on different frequency bands. The experimental results verify the effectiveness of the present system, which implies that the system is applicable to practical engineering.

Simulation Method of Systematic Calibration Technology for Strap-Down Inertial Navigation under Outer Field Condition

RUAN Wei, FENG Lian-ming, GUO Lin-na, WANG Li-wen, ZHANG Qin-nan, HONG Jian-ying

2018, 26(4): 330-334. doi: 10.11993/j.issn.2096-3920.2018.04.009

[Abstract](675) [PDF 583KB](555)

Abstract:
To solve the problem of high cost and heavy workload for calibration in laboratory, a numerical simulation method of disassembly-free and systematic calibration technology under outer field condition is proposed. The trajectory generator, the module of inertial measurement unit(IMU), the inertial navigation solution module and the filter module are built by using Matlab, and the IMU errors are calibrated by arranging multi-position test. Simulation results show that the IMU errors can be effectively excited by reasonable position design, then the IMU errors can be calibrated. This study may provide a reference for undersea vehicle navigation and positioning research.

A Method for Identifying Hydrodynamic Parameters of Undersea Vehicle Based on Test Data

ZHAO Ran, XIE Hu, QIAO Bing

2018, 26(4): 335-341. doi: 10.11993/j.issn.2096-3920.2018.04.010

[Abstract](827) [PDF 560KB](366)

Abstract:
It is difficult to obtain accurate values of hydrodynamic parameters through wind tunnel test or numerical calculation, therefore, the system identification method is usually employed for an aircraft to optimize its fluid parameters. However, the identification method for aircraft uses square-wave open-loop input, which is destructive and dangerous to a certain extent, so it is difficult to be used in undersea vehicle parameter identification. In this paper, a closed-loop control method adopting alternate path points is proposed to replace the traditional square-wave open-loop input for undersea vehicle in sea trial. It can both fully inspire undersea vehicle’s dynamic characteristics and ensure the safety of navigation. In order to reduce the difficulty of identification, the undersea vehicle is divided into several channels. Then, a certain type of undersea vehicle is taken as an example to optimize the parameter identification. The results show that satisfactory identification results of the channel can be obtained in sea trial as long as the actuator keeps the limit rudder for a period of time, and single channel parameter identification can also obtain high identification precision. After parameter identification, the open-loop simulation results are consistent with that from sea trial, which proves the feasibility of the proposed method in practical engineering application.

Operational Application Method of Two-time Turning Angle for Acoustic Homing Torpedo

LI Hua, ZHANG Jing-yuan

2018, 26(4): 342-347. doi: 10.11993/j.issn.2096-3920.2018.04.011

[Abstract](752) [PDF 561KB](369)

Abstract:
In the case of one-time turning angle operation mode of an acoustic homing torpedo, the Doppler velocity of the target does not reach the threshold of homing detection threshold as the torpedo is meeting the target, which leads to difficulty in detecting the target. This paper analyzes the target Doppler velocity and the torpedo homing detection threshold, then puts forward a two-time turning angle operation mode to satisfy torpedo homing detection, and establishes a model. The detection probabilities of an acoustic homing torpedo in one-time turning angle operation mode and improved two-time turning angle operation mode are solved by Monte Carlo method with consideration of target maneuvering. The results show that the improved two-time turning angle operation mode can improve the detection probability of an acoustic homing torpedo.

Comprehensive Assessment Method for Navigation Mission Reliability of Undersea Vehicle

LUO Xiao-qiang, WANG Hao, HOU Fa-lin

2018, 26(4): 348-351. doi: 10.11993/j.issn.2096-3920.2018.04.012

[Abstract](721) [PDF 424KB](316)

Abstract:
Conventional reliability assessment method of undersea vehicle navigation mission regards incomplete course statistics as whole course statistics, which does not meet the requirements of the specification profile. In view of the shortcomings of conventional assessment methods, a comprehensive assessment method is proposed, which the navigation process is considered to be an exponential distribution of life, and the time of actual navigation is counted and converted into a mission equivalent number according to the time of the whole course. Combining with other subsystems’ trial data, the L-M method is used to calculate the number of times and the number of failures of the total sea trial task. The smallest acceptable value of mission reliability is calculated with the lower confidence limit method based on the binomial distribution for determining whether the reliability of the task meets the requirement. It is concluded that the proposed method solves the shortcomings of the conventional assessment method, and is easy in implement, simple in operation, and reliable in assessment, and this method can greatly reduce the number of trial times and improve the efficiency of trial.

Overall Design of Common Torpedo Testing Devices

WANG Jing-tang, ZHANG Yu, LIAN Xiao-yuan, LI Yan, XIE Hua

2018, 26(4): 352-357. doi: 10.11993/j.issn.2096-3920.2018.04.013

[Abstract](880) [PDF 839KB](477)

Abstract:
To improve the standardization, modularization and generalization of torpedo testing devices, the “common hardware platform plus special adapter” is applied to the overall design of the common torpedo testing devices. The common hardware platform is based on PXI bus and LXI bus. It uses common test interface to connect with different special adapters, so it can easily realize functional testing and trouble shooting of multiple components of a torpedo or a specific type torpedo through a set of testing devices. Application shows that the hardware of the common torpedo testing devices is universal, and its software has portability and interoperability. Compared with the existing torpedo testing devices, this common torpedo testing device can better facilitate the guarantee function development and expansion of new type torpedo, and it has high extensibility.

Supportability Test and Evaluation Method in Torpedo Performance Evaluation Test Stage

LI Guo-liang, GUO Yan-zi

2018, 26(4): 358-363. doi: 10.11993/j.issn.2096-3920.2018.04.014

[Abstract](487) [PDF 1041KB](423)

Abstract:
Aiming at the preliminary evaluation of support effectiveness in the new torpedo performance evaluation test, this paper systematically combs the torpedo life profile and the integrated support system structure on the basis of the previous theoretical research and some tests. The key problems in the implementation of torpedo supportability test and evaluation are discussed in the aspects of supportability activity test and evaluation, and the support resources test and evaluation. Moreover, the design of the test items is optimized. This study may be helpful for the supportability test and evaluation in torpedo performance evaluation test stage.

A Sampling Inspection Scheme of Batch Test for Rocket-Assisted Torpedo

ZHANG Hong, HOU Dai-wen, ZHANG Hong-xing

2018, 26(4): 364-368. doi: 10.11993/j.issn.2096-3920.2018.04.015

[Abstract](812) [PDF 339KB](436)

Abstract:
In view of the limited sample size of rocket-assisted torpedo batch test, the principle of sampling inspection is introduced, and a sampling inspection scheme is proposed via analyzing the problems existing in the conventional sampling inspection scheme of batch test. The proposed scheme comprehensively considers the quality parameters, such as inspection level, sampling type, acceptable quality level, and risk rate. Case analysis indicates that this scheme can reduce the sample size of the batch test, and may provide a technical support for formulation of new sampling inspection scheme of rocket-assisted torpedo batch test and for the compilation of the Batch Test Specification of Rocket-Assisted Torpedo.

2018 Vol. 26, No. 4

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