水下无人系统学报

Present Situation and Prospect of Autonomous Undersea Vehicle Navigation Technologies

WEI Bo-wen, LÜ Wen-hong, FAN Xiao-jing, ZHU You-kang, GUO Yin-jing

2019, 27(1): 001-9. doi: 10.11993/j.issn.2096-3920.2019.01.001

[Abstract](1592) [PDF 678KB](1405)

Abstract:
Navigation technology is one of the key technologies in the development and application of an autonomous undersea vehicle(AUV). Integrated navigation has become the development direction of AUV navigation technology in the future because of its higher stability, accuracy and persistency. This paper briefly describes the development of traditional navigation technologies and non-traditional navigation technologies for an AUV, and analyzes the application and research status of the inertial navigation system(INS)/acoustic integrated navigation, INS/geophysical integrated navigation, INS/visual integrated navigation, and INS/astronomical integrated navigation. It is concluded that the INS/geomagnetic matching integrated navigation and INS/gravity matching integrated navigation have become the development trend of AUV navigation technologies in military fields, and the INS/long baseline(LBL) integrated navigation has become the development direction of AUV navigation technologies in civilian fields. In addition, the research directions of the INS/geomagnetic matching integrated navigation, INS/gravity matching integrated navigation, and INS/LBL integrated navigation are looked forward.

Latest Development Progress and Technical Approach of U.S. Navy’s Three Types of Torpedoes

ZHANG Meng, TAN Si-wei, ZHANG Lin-sen

2019, 27(1): 010-13. doi: 10.11993/j.issn.2096-3920.2019.01.002

[Abstract](1112) [PDF 852KB](825)

Abstract:
The torpedo technology of the United States is at leading level in the world, and its development has always been the focus of foreign navies’ attentions. In this paper, the development technical trends of the U.S. Navy’s three types of torpedoes, i.e., the MK 54 Mod 1 lightweight torpedo and MK 48 Mod 7 heavyweight torpedo in service, and the developing torpedo——the anti-torpedo torpedo(ATT), are reviewed and briefly analyzed based on the U.S. Navy report and the relative information in the fiscal year 2017. In this fiscal year, the U.S. Navy: 1) continued to improve the sonar hardware and the tactical software of the MK 54 Mod 1 torpedo, and conducted several developmental in-water tests; 2) carried out torpedo’s advanced propulsion system(TAPS) program to extend the range of MK 48 Mod 7 torpedo; 3) completed deployments of ATTs on three aircraft carriers, and conducted the quick reaction assessment. The purpose of this paper is to provide a reference for the development of relative weapons in China.

Optimization Effect of Lorentz Force on Local Perturbation of Flow Field around Submarine

ZHANG Fei, LIU Zong-kai, ZHOU Ben-mou, LI Jun-wei

2019, 27(1): 014-19. doi: 10.11993/j.issn.2096-3920.2019.01.003

[Abstract](707) [PDF 1909KB](390)

Abstract:
While a submarine navigates underwater, the drag against submarine increases for the reasons such as flow separation and boundary layer transition near the wall, which are resulted from fluid viscosity. Meanwhile, massive vortices appear in the flow field accompanied by abnormal vortex shedding. Based upon the viscous incompressible Navier-Stokes equation, this study employs the finite volume method to numerically simulate the submarine’s flow field with Re=107. The flow field and the force evolution on the submarine are analyzed respectively under the conditions of A=1, A=2, and A=3, where electromagnetic force(Lorentz force) is applied for flow field control. The results show that the vortices on the hull are effectively suppressed when the Lorentz force is applied to the junction of the hemispherical forebody and midbody(A=1, N=1.5). Applying Lorentz force to the top of fin(A=2, N=1.5) can effectively suppress the vortex shedding, and greatly reduce the drag force(horizontal component of force). Therefore, appropriate utilization of Lorentz force for controlling the boundary layer flow of the fin may efficaciously suppress the formation of irregular vortices and their shedding, and reduce flow noises, hence improve the stealth and the dynamic performance of a submarines. This study may provide a reference for optimization of submarine flow field.

Experimental Study on Supercavitation Characteristics around Axisymmetric Body with Different Shape Cavitators

WANG Rui, DANG Jian-Jun, YAO Zhong

2019, 27(1): 020-24. doi: 10.11993/j.issn.2096-3920.2019.01.004

[Abstract](606) [PDF 1495KB](350)

Abstract:
To obtain the influence of head-shaped cavitator parameters on the characteristics of supercavitation flow field, the high-speed flow display technology and the force measuring technology with three-point force balance are employed to study the effect of cavitator with different shapes on the supercavitation characteristics of axisymmetric body on the high-speed water tunnel test platform. Supercavitation flows around the axisymmetric body are generated via artificial ventilation by the cavitators with four shapes. The cavity morphology and resistance fluctuation around the axisymmetric body under different working conditions are obtained. Results show that each cavitator can form stable and transparent cavity. For the cavitator with a certain shape, the higher the velocity of incoming flow is, the larger the cavity size becomes. According to the drag coefficient, the descending order is the concave-shaped cavitator, the truncated cone-shaped cavitator, the disk-shaped cavitator, and the inverted cone-shaped cavitator. This research may provide a reference for the head shape design of supercavitating projectile and the design of hydrodynamic layout.

Algorithm of Direction of Arrival Estimation for an AUV Based on Sparse T-Array with Four Hydrophones

ZHANG Qian, LIANG Hong, YANG Chang-sheng

2019, 27(1): 025-30. doi: 10.11993/j.issn.2096-3920.2019.01.005

[Abstract](665) [PDF 431KB](273)

Abstract:
The number of hydrophone on a small autonomous undersea vehicle(AUV) is extremely limited by its volume and structure, however, higher accuracy of direction of arrival(DOA) is expected for such limited hydrophones. Joint es- timation of azimuth and pitch angle can be realized by traditional isometric T-array with four hydrophones, but the estimation accuracy is limited because the array aperture depends on the half-wavelength. This study proposes a sparse T-array with four hydrophones based on the isometric T-array with four hydrophones, and it enlarges the spacing between center element and No.1 element in the horizontal direction to an integer multiple of the wavelength while keeps the spacing between center element and others half- wavelength. Adopting the cross-spectrum direction-finding method based on conventional beam-forming for DOA estimation, the estimation errors of azimuth and pitch angle are simulated and compared between these two array-patterns. The results show that the azimuth estimation error of the sparse T-array is less than that of the isometric T-array under the same signal-to-noise ratio(SNR). Simulation analysis confirms that the DOA result of the sparse T-array with four hydrophones has higher accuracy, which satisfies the requirement for an AUV that using fewer elements to achieve higher DOA estimation accuracy.

Simulation on Underwater Salvo Load Characteristics of Multi-Slender Body Vehicles in Single Launching Tube

ZHAO Shi-ping, BI Feng-yang, LU Bing-ju, YUAN Xu-long, QIN Li-ping

2019, 27(1): 031-36. doi: 10.11993/j.issn.2096-3920.2019.01.006

[Abstract](691) [PDF 1558KB](369)

Abstract:
In respect of the underwater salvo adjacent tube effect caused by dense arrangement of several slender body vehicles in single launching tube, the volume of fluid(VOF) and multiphase flow methods are used to establish a three-dimensional unsteady multiphase flow simulation model for underwater vertical salvo, in which the dynamic grid technology for user-defined function(UDF) to control the motion of two vehicles is adopted and the influence of suspended flange, tube cover and submarine shape on the flow field characteristics of the tube mouth is considered. Then, the load characteristics of adjacent tube watertight head cover and water back-flow hammer are obtained. The influence of first-launched vehicle on the load characteristics of second-launched vehicle is analyzed, and conclusions are drawn as follows: 1) After launching of the first-launched vehicle, the flow field at the tube mouth tends to stabilize quickly, and the load of watertight head cover of the adjacent tube is slightly smaller than that of the first-launched vehicle but with similar law when the second vehicle is launched. That is, the flow field at the tube mouth of single tube has little effect on the salvo interval; 2) After launching, the flow field of launcher tends to stabilize quickly both inside and outside, and the amount of seawater poured back into the launcher is relatively small, which may affect the steering performance of the submarine; 3) Second-launched vehicle has great influence on the characteristics of water hammer load and flow field of first-launched vehicle in launching tube. This research may provide a reference for dense arrangement scheme demonstration of underwater multi-slender vehicle and safety analysis of salvo.

Research on Target Threat Assessment and Ranking Model of Single Ship against Submarine

ZHANG Hong-chao, WANG De-shi, PENG Jing-hui

2019, 27(1): 037-44. doi: 10.11993/j.issn.2096-3920.2019.01.007

[Abstract](517) [PDF 478KB](409)

Abstract:
Aiming at the threat assessment reliability and efficiency of single ship against a submarine, the threat ranking rules and threat assessment model of submarine targets are studied. According to the characteristics of anti-submarine operation, the specifications describing threat are selected and the specification system of threat assessment is established. Based on the fuzzy analytic hierarchy process(AHP) method, the attacking judgment of the target is fused, so that the model can consider the factors such as the state of the target weapon in the battlefield environment. The simulation results show that the proposed method can be used to assess underwater target threats accurately and quickly. It provides the research foundation for developing the command and decision-making system of surface warship formation anti-submarine operation.

Working Path Optimization of Manipulator Arm of Underwater Robot Based on Ant Colony Algorithm

LIN Shu-feng, WANG Dong-jiao, YE Jia-wei, LIU Kun

2019, 27(1): 045-50. doi: 10.11993/j.issn.2096-3920.2019.01.008

[Abstract](831) [PDF 1234KB](379)

Abstract:
To improve the efficiency of the manipulator arm of an underwater robot for cleaning jackets and to shorten the motor working time under high load, the sonar echo data are used to identify the distribution of attachments onto the working area, and two working path planning algorithms of manipulator arm based on ant colony algorithm is proposed by respectively taking the shortest working time and the minimum energy consumption as the optimization targets. A three-dimensional kinematic model of the manipulator arm is established through the software MATLAB and PRO/E. Two optimal paths are obtained by the proposed algorithms for a certain random attachment distribution. Simulation results show that compared with the traditional scan path, the proposed two working path planning algorithms increase the working efficiency of the manipulator arm by more than 2 times and reduce its energy consumption by 50% under the premise of satisfying the range of working area, verifying the feasibility of the two proposed path planning algorithms.

A Calculation Method of Three-Dimensional Supercavity Shape Based on the Principle of Independent Expansion

SONG Shu-long, WAN Ya-min, LI Jian-chen, ZHOU Jing-jun, LÜ Rui

2019, 27(1): 051-58. doi: 10.11993/j.issn.2096-3920.2019.01.009

[Abstract](1021) [PDF 1277KB](418)

Abstract:
In view of the problem that the fluid dynamics calculation of supercavity torpedo maneuvering needs to accurately predict the three-dimensional supercavity shape in real time, a three-dimensional unsteady supercavity shape calculation method is presented based on the independent expansion principle of cavity section. The reasonability of the method is testified by comparing with the Logvinovich model and the computational fluid dynamics(CFD) numerical simulation method. The three-dimensional supercavity shapes of a torpedo in velocity-variable motion, depth-variable motion, horizontal-longitudinal plane motion along sinusoidal trajectory, and spiral motion in three-dimensional space are simulated and analyzed by the proposed method. Simulation results show that this method can predict three-dimensional unsteady supercavity shape of a torpedo moving along any trajectory. Compared with the Logvinovich model and the CFD numerical simulation method, this method can solve the three-dimensional supercavity shape with more comprehensive information and can save a large amount of computing resource. It is concluded that the present method can rapidly provide time-varying three-dimensional supercavity shape for engineering practice and provide a reference for the establishment of dynamic model of supercavity torpedo.

Design and Performance Analysis of an Underwater Glider for Shallow Water

CHEN Meng-wei, LIU Yan-ji

2019, 27(1): 059-64. doi: 10.11993/j.issn.2096-3920.2019.01.010

[Abstract](831) [PDF 1454KB](681)

Abstract:
For monitoring shallow water environment, an underwater glider for shallow water was designed. The effect of the coupling mode of the pitch and buoyancy mechanism adjustment and the pitch angle on the overall performance of the glider was analyzed. A single stroke buoyancy regulating system based on screw pair transmission device was designed, and the fin rudder adjustment device was used to realize the turning adjustment of the glider body. Moreover, a dynamic model of glider running in shallow water was established, a linear quadratic regulator(LQR) controller was designed, the weight parameters of the controller were determined, and the fast control of buoyancy state switching was realized by comprehensively considering the state variables of the moving parts inside the glider body. At last, the performance of the glider was tested in a water tank, and the result shows that this underwater glider can run smoothly in the depth range of 3 m with a small turning radius of 9 m, which meets the requirements of stable operation and smooth cruise in shallow water.

Tactical Analysis and Operational Application of Submarine Steering Cycle to Defense Active Acoustic Homing Torpedo

DENG Xin-wen, ZHU Wen-zhen, XIE Yong

2019, 27(1): 065-70. doi: 10.11993/j.issn.2096-3920.2019.01.011

[Abstract](778) [PDF 503KB](464)

Abstract:
The steering cycle of a submarine has great influence on homing detection of an enemy torpedo, and it is the main way to defend against an acoustic homing torpedo. Based on sonar equation, the relationship between the board angle of the submarine and the acoustic homing range of the enemy torpedo is analyzed after the submarine cycling. By analyzing the active acoustic homing torpedo’s principle of body target recognition using azimuth direction and highlight distribution, a simulation calculation model is constructed. Example shows that the submarine steering cycle can greatly shorten the acoustic homing range of the enemy torpedo, which will mislead the target identification of the enemy torpedo into the anti-evasion trajectory when the submarine is at the big or small board angles. In addition, the implementation method for a submarine to defend the active acoustic homing torpedo using steering cycle strategy is discussed. This research may provide a reference for submarine commanders to conduct torpedo defense operations and for torpedo designers to further study anti-jamming strategy of a torpedo.

Experimental Study on Underwater Explosion Damage Power of Warhead with Different Energy Output Configuration

LU Zhong-bao, LI Qin, HA Hai-rong

2019, 27(1): 071-77. doi: 10.11993/j.issn.2096-3920.2019.01.012

[Abstract](715) [PDF 1934KB](458)

Abstract:
Explosion damage power of underwater weapon warhead to large surface ship depends on action range, as well as action location, warhead charge variety, and detonation mode. In order to obtain the best position for attacking warhead of a large surface ship and the design criteria of charge and detonation modes, this study chose the warhead with typical explosive type and typical detonation mode to test the power field parameters in all directions of underwater explosion and the response of simulated ship target to bottom explosion of a typical warhead. The output law of underwater explosion energy of a warhead with different energy output configuration and the damage law to ship target were obtained. It is concluded that the explosive with high total energy and high bubble energy is suitable for the underwater weapon warhead; bottom attack and directional detonation can converge energy upward to obtain the best damage effect. This study may provide a reference for overall design of the underwater weapon warhead for attacking large surface ship.

Simulation Method for Hitting Effect of Torpedo Attacking Body Target

WANG Gai-di, WENG Lu, LÜ Yan-hui, LIU Meng-qin

2019, 27(1): 078-82. doi: 10.11993/j.issn.2096-3920.2019.01.013

[Abstract](554) [PDF 361KB](338)

Abstract:
The hitting effect of a torpedo is usually represented by the hitting parameters. However, evaluating hitting effect via point target can only get the miss distance, and eluding measures are often taken to prevent a torpedo colliding with an acoustic target or a real target in sea trial, the actual hitting parameters are difficult to be obtained. In this paper, a simulation method for evaluating torpedo hitting effect with body target is presented. A whole trajectory’s mathematical model of torpedo tracking target process and a mathematical model describing the geometric characteristics and hitting parameters of the body target are established. Simulation calculation and analysis on the hitting effect of a torpedo attacking body target are carried out. Simulation results show that the torpedo hitting effect is related to the geometric characteristics of the target, the target velocity, the relative situation between the torpedo and the target, and so on. This method may provide an effective means for evaluating torpedo hitting effect, and may provide a reference for optimization designs of torpedo trajectory and guidance law.

Research on Sample Capacity of Maximum Range of Rocket-Assisted Anti-submarine Torpedo

DENG Lei-ming, HOU Dai-wen, LIU Jian-bing

2019, 27(1): 083-86. doi: 10.11993/j.issn.2096-3920.2019.01.014

[Abstract](503) [PDF 415KB](429)

Abstract:
Determination of test sample capacity is important for test programme design, and is the premise and basis for evaluation of tactical and technical specification. In this paper, the classic statistical methods are employed to solve the problem of determining sample capacity of maximum range of rocket-assisted anti-submarine torpedo, in which hypothesis testing and t-test are used. The relationship among sample capacity, non-central parameter and risk of both parties is obtained. A method for evaluating the maximum range of rocket-assisted anti-submarine torpedo is presented through an example. This work may provide a theoretical reference for test scheme design and evaluation of maximum range of a rocket-assisted anti-submarine torpedo.

Simulation on Structural Response of Torpedo-Target Collision

LI Jing-xiao, CHEN Yan-yong, ZHANG Tao, XU Da

2019, 27(1): 087-92. doi: 10.11993/j.issn.2096-3920.2019.01.015

[Abstract](466) [PDF 3099KB](315)

Abstract:
In view of the particularity and complexity of target structure and collision environment in the collision process of a torpedo and a target, the internal mechanism of ship collision is utilized and the fluid-solid coupling and additional mass method are employed to carry out finite element simulation of the structural response of a torpedo when it hits a target. The structural damage of a target and the variation of torpedo velocity and acceleration during collision are studied. Simulation results show that: 1) The hitting process has strong nonlinear characteristics, and the hitting angle has a certain influence on the motion of a torpedo and the deformation of a target; 2) The higher the torpedo hitting velocity is, the higher the peak acceleration response of torpedo head and the damage degree of target become. This research may provide a reference for the structure design and dynamic characteristic design of targets.

A Location Method of Torpedo Terminal Trajectory Based on Cross Spectrum Method

ZHU Feng, ZHU Yuan-lin, LIU Song-hai

2019, 27(1): 093-96. doi: 10.11993/j.issn.2096-3920.2019.01.016

[Abstract](561) [PDF 402KB](265)

Abstract:
A passive location method based on short-time cross spectrum method is proposed to improve the passive location accuracy of a torpedo terminal trajectory measurement system. The measurement system established according to this method is introduced, the passive location algorithm of a target is given. The angle measurement accuracy, the noise influence and the typical trajectory are simulated and analyzed in the measuring area. Simulation results show that for the signal-to-noise ratio(SNR) of 10 dB, when the target is on the arc of an ±40° region and the distance between the arc and the measuring subarray is 80 m, the direction finding accuracy of the proposed location method is improved by 0.15°, and the absolute error of typical trajectory is generally reduced by 0.4 m. This research may provide a reference for evaluating torpedo effectiveness.

The Issues Needed to be Explored and Clarified in Torpedo RMS Academic and Engineering

MENG Qing-yu, JIANG Tao, DU Jun

2019, 27(1): 097-107. doi: 10.11993/j.issn.2096-3920.2019.01.017

[Abstract](541) [PDF 564KB](346)

Abstract:
Aiming at the issues in the technical documents and teaching materials of torpedoes’ reliability, maintenance and supportability (RMS) in the past dozen years, which concern the relationship among RMS parameters, the phase division of life profile, the definition of reliability contract specification, and the problems of academic and engineering application in coordination of the reliability contract specification, the authors analyze and demonstrate the military standards, technical data and a large number of data facts about torpedo reliability from home and abroad, point out the existing problems according to the basic theory of equipment reliability, and put forward corresponding measures to solve these problems through demonstration of examples. The purpose of this study is to clarify RMS academic and engineering application of a torpedo, and to provide a more effective support to the development and usage of torpedo weapon.

Reasonable Formulation of Operational Readiness Guarantee Period of Torpedo

MENG Qing-yu, JIANG Tao, WANG Sheng

2019, 27(1): 108-112. doi: 10.11993/j.issn.2096-3920.2019.01.018

[Abstract](413) [PDF 342KB](248)

Abstract:
In the technical documents of supporting for torpedo development or finalized products, as well as in the cor-responding teaching materials, the quantitative requirements for the operational readiness guarantee period of all levels of combat torpedoes are stipulated. However, the definition and model of the operational readiness guarantee period are not universally understood, and the rationality of the quantitative requirements still remains to be discussed. According to the basic theory of equipment reliability, this paper gives the definitions and mathematical models of the storage(or loading) operational readiness guarantee period and the storage(or loading) operational readiness guarantee reliability. Further, an example calculation and analysis is given to illustrate the ideas and methods for rational formulating the quantitative requirements, which may provide a reference for formulation of torpedo operational readiness guarantee period.

2019 Vol. 27, No. 1

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