水下无人系统学报

2022, 30(6): 679-679.

[Abstract](86) [FullText HTML] (61) [PDF 224KB](23)

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Review of Development of Diver Underwater Delivery Vehicles Technology Abroad

ZHOU Chao, ZHONG Hong-wei, CHEN Ying-liang, LIU Dong-lin, DING Sheng, ZHANG Xiao-peng, LI Chu-han

2022, 30(6): 680-695. doi: 10.11993/j.issn.2096-3920.2022-0027

[Abstract](2993) [FullText HTML] (112) [PDF 2126KB](116)

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The mode of maritime conflict in the world today is developing towards diversification, especially under asymmetric strategic conditions, and underwater special operation for divers is a very effective way to attack. In this study, the development of overseas diver underwater delivery vehicle technology was analyzed. The technical system and composition structure of diver delivery vehicles were determined. The development status of wet, dry, and water surface/underwater diver delivery vehicles are expounded, the sharing and key technologies of diver underwater delivery vehicles are summarized in detail, and the development process and trends are analyzed. This can provide a reference for the development of future domestic underwater special operation equipment.

The Development Status and Trend Analysis of American Diver Special Operation Equipment Based on Its Fiscal Year Defense Budget

ZHU Zhao-tong, CHEN Zi-li, ZHAO Qi

2022, 30(6): 696-703. doi: 10.11993/j.issn.2096-3920.2022-0051

[Abstract](259) [FullText HTML] (56) [PDF 1662KB](60)

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Special underwater operations play an important role in naval warfare. Because of their good concealment and efficient operation, diver underwater operation has become an important part of underwater special operation missions and an important support for “asymmetric combat”. As an important military power, the United States has matured in equipment research and development in this field, which is of great significance for reference. Based on the US defense research, development, testing, evaluation, and the procurement budget report for the fiscal year(FY) 2010 to FY 2023, this paper briefs the key research projects in the US Navy’s divers’ special operation equipment, analyzes their research status, research and development priorities, and improvement trends, and sorts out the characteristics of the US Navy’s special operation equipment development and project management, with a view to providing a reference for the construction and development of the relevant divers’ underwater equipment system.

Review on Anti-UUV Detection Sonar System

LAN Tong-yu, LIU Ben-qi, LIU Liang

2022, 30(6): 704-713. doi: 10.11993/j.issn.2096-3920.2022-0033

[Abstract](4026) [FullText HTML] (228) [PDF 3224KB](236)

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Unmanned undersea vehicles(UUV) can perform varieties of underwater special operation missions. In recent years, enemy UUVs have posed serious threats to the safety of key equipment in ports and coastal areas. Anti-UUV detection sonar is an important method for realizing early warning of enemy UUVs intrusion and protecting ports and coasts. This paper briefly analyzes the characteristics of UUV and their detection difficulties. The research status of several typical foreign UUV detection systems using diver detection sonar and coast surveillance sonar systems is introduced. This paper summarizes the key technologies, main problems, and development directions of anti-UUV detection sonar systems and provides a reference for the research of anti-UUV detection sonar systems within the industry.

Inspiration of Hydrodynamic Design of Surface/Underwater Dual-Purpose Vehicle

ZHU Min, ZHANG Zhen, YANG Zhuang-tao, SHAO Yong-yong

2022, 30(6): 714-719. doi: 10.11993/j.issn.2096-3920.2022-0022

[Abstract](327) [FullText HTML] (116) [PDF 5203KB](63)

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Surface/underwater dual-purpose vehicles have the ability of high speed on water surfaces and underwater concealed penetration, which combines the advantages of dry and wet diver delivery vehicles to a certain extent. In recent years, diver delivery vehicles have become a hot topic of research abroad. This study generalizes the foreign development status of surface/underwater dual-purpose vehicles and analyzes their technical status. From the perspective of hydrodynamic force, the design characteristics, and solutions to difficulties of foreign surface/underwater dual-purpose vehicles are thoroughly analyzed, and some relevant suggestions for surface/underwater dual-purpose vehicle hydrodynamic design are summarized, which can provide guidance for the subsequent development of related equipment in China.

System Architecture and Key Technologies of Underwater Body Area Network

XIAO Zhe-shui, CHEN Fa, FANG Kun-sheng, WANG Wei, HUANG Hai-ning

2022, 30(6): 720-725. doi: 10.11993/j.issn.2096-3920.2022-0014

[Abstract](3120) [FullText HTML] (81) [PDF 979KB](85)

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The continuous development of special diver underwater portable equipment has led to the continuous progress of the intelligent ocean trans-media internet of things, and has made the construction of underwater body area networks increasingly concerning for countries. Based on this, this study discusses the layered system architecture of an underwater body area network, focusing on hot issues such as network standardization design and robust information transmission in the design process of underwater body area networks, and provides a solution. This study can provide a reference for the construction and optimization of underwater body area networks for divers.

Structure Design of A Novel Bionic Water-air Cross-Domain Vehicle

LI Hong-yuan, LÜ Kai, CHEN Ying-liang, ZHU Min, LÜ Peng-yu, DUAN Hui-ling

2022, 30(6): 726-732. doi: 10.11993/j.issn.2096-3920.2022-0024

[Abstract](706) [FullText HTML] (90) [PDF 2480KB](168)

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In recent years, water-air cross-domain vehicles have become a research hotspot owing to their stereo cross-domain advantages. However, the design level of existing water-air cross-domain vehicles is limited, which hinders their popularization and application in an actual complex environment. Based on the bionic variant technology, a novel bionic structure of a water-air cross-domain vehicle is proposed in this paper. Two pairs of variant hydrofoils and folded air wings were designed based on the shape characteristics of the vehicle. Moreover, various actuators have been developed to realize the expansion and contraction of hydrofoils and air wings. To ensure the excellent performance of the vehicle in multi-mode, the hydrodynamic and aerodynamic performances of the undersea vehicle, water surface, and air modes were studied using computational fluid dynamics numerical simulation. The results show that the vehicle can achieve underwater running at a fixed depth, high-speed sailing on the water surface, and fixed-altitude flight in the air. The water-air cross-domain vehicle can not only realize cross-domain operation, but also has the advantages of underwater concealment and air mobility.

Acoustic Scattering Characteristics of a Diver Propulsion Vehicle

LI Jie, FAN Jun, LI Bing

2022, 30(6): 733-739. doi: 10.11993/j.issn.2096-3920.2022-0026

[Abstract](280) [FullText HTML] (49) [PDF 1905KB](46)

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The acoustic stealth performance of a diver propulsion vehicle(DPV) is one of the key technologies of special operations that determines whether diver troops can penetrate secretly. In this study, a precise three-dimensional geometric DPV model was established. Based on the model as well as the near-field planar element method for predicting the acoustic scattering characteristics of sonar targets, the frequency domain indirect method and the echo tomography method, broadband omnidirectional time-domain echoes, frequency response curves, and acoustic tomographic DPV images were obtained by simulation. The influence of the incident plane wave frequency and azimuth on the acoustic scattering characteristics of the DPV was analyzed. Lake tests were carried out to explore the static acoustic scattering characteristics of the DPV. The experimental and simulation results were in good agreement, with abeam echo strength of approximately −10 dB and a frequency response curve error within 3 dB, verifying the accuracy of the theoretical modeling. This study provides a reference for further research on the acoustic stealth design and detection of DPVs.

Acoustic Scattering Characteristics of Underwater Eight-grid Air-filled Cavity Corner Reflector

CHU Zi-chao, LUO Yi, WEN Wu-di

2022, 30(6): 740-746. doi: 10.11993/j.issn.2096-3920.202204012

[Abstract](186) [FullText HTML] (34) [PDF 1580KB](29)

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Underwater corner reflectors have a strong acoustic scattering ability and can be used to mark underwater structures and simulate underwater false targets. In accordance with the limitation of the reflection range of a single-grid corner reflector, a new eight-grid air-filled cavity corner reflector was designed. The acoustic scattering characteristics of the eight-grid air-filled cavity corner reflector and single-grid air-filled cavity corner reflector were simulated and compared using the finite element method-boundary element method. The effect of the eight-grid corner reflector due to multiple grids and the effects of changing the incident angle, frequency of incident wave, and air-filled cavity thickness on the eight-grid air-filled cavity corner reflector scatter sound field were analyzed. The results show that the eight-grid air-filled cavity corner reflector has a larger scattering range and greater target intensity, effectively compensating for the problems of low scattering intensity and reflection blind area of the single-grid air-filled cavity corner reflector. The interaction between multiple grids can effectively increase the scattering width, resulting in the formation of a wide range of scattered sound fields due to structural vibrations. Changing the thickness of the air-filled cavity under different incident sound wave frequencies does not have a significant effect on the target strength.

A Method of Erect Rail Barricade Recognition Based on Forward-Looking 3D Sonar

LI Bao-qi, REN Lu-lu, CHEN Fa, QIAN Bin, HUANG Hai-ning

2022, 30(6): 747-753. doi: 10.11993/j.issn.2096-3920.2022-0016

[Abstract](319) [FullText HTML] (206) [PDF 1405KB](65)

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To alleviate the difficulty in detecting and recognizing erect rail barricades, a forward-looking three-dimensional(3D) imaging sonar is used to improve the effectiveness of erect rail barricade recognition, and a single shot detector(SSD)-based 3D point cloud(PCSSD) target recognition method is proposed. First, the original beam domain data are processed using a threshold filter and pass-through filter. Next, forward projection of the filtered 3D point cloud data is performed, and the grayscale depth image and pseudo color depth image are obtained. The SSD was then used to recognize the targets from the pseudo color depth image. Subsequently, the depth range of the selected targets is calculated based on the characteristics of the targets recognized from the grayscale depth image. Finally, erect rail barricades in the form of 3D point clouds were detected by combining the two-dimensional detection results and the corresponding depth range. A feature extraction block based on the multi-scale attention mechanism was proposed, and a novel target detector SSD-MV3ME was used for the design. On the 3D point cloud erect rail barricades dataset GTZ, under the condition of the same detection time, the detection accuracy of SSD-MV3ME was higher than that of the lightweight target detection model SSD-MV3 by 1.05%, and the model parameters had less than 2 482 kB. The results show that the PCSSD based on SSD-MV3ME is more suitable for erect rail barricade recognition tasks.

Research on Unmanned Surface Vehicle Detection Strategy Based on Game Theory

GUO Miao, XU Yan-feng, CHEN Zhu-lei

2022, 30(6): 754-760. doi: 10.11993/j.issn.2096-3920.2022-0032

[Abstract](264) [FullText HTML] (54) [PDF 1449KB](45)

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Owing to the evasive action of small underwater targets, they are lost and difficult to detect, which leads to a high false alarm rate of the security system. Based on stationary sonar detection of the target and continuously obtaining relevant data, this study considers the scene of an unmanned surface vehicle (USV) that carries the image sonar to verify the target at a short distance. First, the trajectory data of the target are obtained using stationary sonar, and then the particle filter method is used to predict the trajectory data. Then, a game theory model between our USV and the enemy target is established. According to the action of the enemy target at every moment and the payment function in the model, our USV chooses the most favorable decision to form the confrontation process of both sides. Finally, the target points and detection strategies of the USV are obtained through a numerical simulation. The accuracy of the target point was verified by the test data, which is convenient for the USV to successfully detect the target. The results of this study provide a theoretical basis for unmanned systems to detect small targets.

Mobile Underwater Acoustic Communication System for Small Underwater Unmanned Platform

YAO Jun-hui, ZHAO Yan-feng, TONG Feng, CHEN Dong-sheng, SHANGGUAN Ming-yu

2022, 30(6): 761-767. doi: 10.11993/j.issn.2096-3920.2022-0029

[Abstract](500) [FullText HTML] (140) [PDF 1408KB](87)

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Mobile underwater acoustic communication channels have the typical characteristics of multipath and Doppler dual expansion, which seriously affects communication performance. In particular, the equipment of small underwater unmanned platforms in the field of underwater special operation has the characteristics of variable navigation state, multi-shallow sea application, and low transmission power under limited power consumption, resulting in variable Doppler, serious multi-path, and low signal-to-noise ratio (SNR), which poses great challenges to traditional mobile underwater acoustic communication schemes. In this study, a mobile underwater acoustic communication scheme for small underwater unmanned platforms in a special operation field is proposed. In this scheme, the analog/digital conversion sampling rate is adjusted by a direct digital frequency synthesizer chip, and real-time Doppler compensation is realized in the hardware. Combined with direct spread spectrum sequence modulation, the anti-multipath performance is improved under the condition of low SNR. A hyperbolic frequency-modulation synchronization design was used to ensure synchronization acquisition performance. The results of the hardware-in-the-loop simulation demonstrated the effectiveness of the system.

A Signal-to-Noise Ratio Estimation Method for Underwater Acoustic Adaptive Communication

WANG Wei, PU Zhan-qing, NIU Biao, TAO Lei, HUANG Hai-ning

2022, 30(6): 768-773. doi: 10.11993/j.issn.2096-3920.2022-0017

[Abstract](237) [FullText HTML] (139) [PDF 1624KB](63)

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To solve the problem of signal-to-noise ratio(SNR) estimation for dynamic communication, an SNR estimation method suitable for underwater acoustic adaptive communication in trans-media heterogeneous networks was proposed. The minimum mean square error SNR estimation algorithm was improved by using the reconstructed data in the process of a low pilot occupancy channel estimation algorithm to achieve SNR tracking under time-varying channel conditions. Simulation results show that the proposed method can obtain highly accurate SNR estimation results under high SNR conditions, and the SNR estimation results can decline rapidly under low SNR conditions, which is particularly suitable for the rate-adjustment strategy of link adaptive communication. The adaptive rate adjustment strategy given by the proposed method can effectively reduce the power consumption and improve the communication data rate.

Parameter Adaptive Sampling Inversion of Underwater Acoustic Go-back Channel Model Based on Bayes-MCMC

ZHAO Gang, SUN Nai-wei, SHEN Shen, YANG Yi-xin

2022, 30(6): 774-786. doi: 10.11993/j.issn.2096-3920.2022-0041

[Abstract](291) [FullText HTML] (94) [PDF 2352KB](37)

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High-confidence underwater acoustic go-back channel modeling is an essential part of the study of target echo simulation and plays an important role in the development of underwater operation equipment. Based on the classical channel model and reasonable assumptions, an analytical model of an underwater acoustic go-back channel is established. Using the Bayes-MCMC inversion algorithm as the core, the characteristics of the inversion problem of underwater acoustic channel parameters were analyzed, and the Metropolis-Hastings adaptive single-dimension serial sampling algorithm was designed to realize efficient channel model parameter inversion based on echo signals. The results of the simulation and measured data show that the proposed adaptive sampling inversion method has good consistency and convergence and has good engineering application prospects in underwater operation equipment simulation tests.

Application of Underwater Visible Light Communication in Underwater Warfare System

LÜ Bin-bin, LIN Ming-lai, WAN Xin

2022, 30(6): 787-793. doi: 10.11993/j.issn.2096-3920.2022-0021

[Abstract](729) [FullText HTML] (122) [PDF 2800KB](165)

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Underwater visible light communication is a technology that can realize two-way high-speed underwater communication in underwater warfare information systems, suitable for the protection of unmanned undersea vehicle(UUV) reconnaissance information, UUV cluster collaboration, diver special operation collaboration, and cross-domain operation information transmission requirements. It can also be used to realize high-speed hidden underwater battlefield information transmission. This paper analyzes the current state of underwater visible light communication technology and discusses the key technologies for implementing visible underwater visible light communication systems. It includes underwater light background noise impact analysis and suppression technology, seawater turbulence impact analysis and suppression technology, coding gain technology, and underwater optical antenna tracking and aiming technology. This paper also analyzes the application of underwater visible light communication technology in underwater warfare systems and discusses the technological directions of optical channel measurement, adaptive optical communication, receiver optical array, large light emitting diode communication optical system, and chain building and holding that need to be breakthroughs in the future. This study can provide a reference for future technological and equipment development for underwater visible light communication.

Ultra Short Baseline Direction-Finding Algorithm Based on Quaternion Stereo Array for Portable Positioning Equipment

GUO Xiao-ming, TIAN Tian

2022, 30(6): 794-800. doi: 10.11993/j.issn.2096-3920.2022-0006

[Abstract](399) [FullText HTML] (69) [PDF 1182KB](46)

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In view of the increasing application demand of underwater collaborative operation of divers, based on the traditional ultrashort baseline positioning technology, an underwater positioning and direction-finding technology scheme on the micro ultrashort baseline tetrahedral receiving array is designed for underwater operation of divers. In view of its direction-finding ability, the simulation analysis is conducted on the factors that affect the direction-finding accuracy caused by the complex underwater acoustic channel characteristics, especially multipath, the phase difference between different elements of the receiving array that is difficult to calibrate by conventional means, and the unsteadiness change of the divers’ underwater operation posture. The simulation results show that the positioning and direction-finding technology scheme is feasible and can meet the application needs of divers to obtain mutual position information during underwater collaborative operations.

Visual Guidance Algorithm for AUV Recovery Based on CNN Object Tracking

HAN Ze-kai, ZHU Xing-hua, HAN Xiao-jun, SUN Kai, LIU Xiao-yu

2022, 30(6): 801-808. doi: 10.11993/j.issn.2096-3920.2022-0031

[Abstract](387) [FullText HTML] (112) [PDF 5491KB](49)

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The development of autonomous undersea vehicle recovery technology is the main approach to solve problems pertaining to energy and information transmission and to enhance the underwater detection and concealment capabilities of unmanned systems. In this study, an underwater visual guidance scheme is designed for recovery with funnel-shaped docking stations in an actual environment. Additionally, an improved detect-by-tracking algorithm based on a convolutional neural network(CNN) is proposed. First, the CNN is trained using a docking station dataset to detect the target. Next, the improved tracking algorithm is combined with the position and attitude spatial information to achieve robust tracking. Finally, based on an improved PnP-P3P position and attitude estimation framework, the problem of insufficient observable beacons under a large offset is solved, and the underwater visual guidance workspace is effectively expanded. The beacon array design and algorithm are validated via workspace simulation, and relevant effective workspace indexes are proposed. An optical guidance experiment is performed in a pool, and acousto–optic joint guidance is performed based on an ultrashort baseline in an actual lake test. The feasibility of the proposed framework for engineering is confirmed by the results obtained.

Circuit Rebreathers and Their Applications in Military Diving

GAO Wen-shun, YUAN Hai-jun, REN Zhi-wei, XIA Hui

2022, 30(6): 809-814. doi: 10.11993/j.issn.2096-3920.2022-0025

[Abstract](216) [FullText HTML] (307) [PDF 2056KB](47)

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Circuit rebreathers are necessary equipment for divers during military diving. By sorting out foreign developments and applications of circuit rebreathers, this paper briefly compares and explains the types, principles, and characteristics of rebreathers, and introduces the rebreathers used by the United States Navy such as Oxygen closed-circuit rebreathers, semi-closed circuit rebreathers, and mixed-gas closed-circuit rebreathers. Combined with the training requirements of foreign rebreathers and the statistical data of diving accidents, this paper summarizes the selection criteria, training content, and training requirements for divers and analyzes the risk of rebreathers as a reference for equipment development and management.

Emergent Treatment of Underwater Risks Related to Wet Diver Delivery Vehicle

LIU Wen-wu, YU Xu-hua, XU Jia-jun, WEN Yu-kun, LI Ci, FANG Yi-qun

2022, 30(6): 815-819. doi: 10.11993/j.issn.2096-3920.2022-0056

[Abstract](137) [FullText HTML] (64) [PDF 696KB](25)

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As a kind of diver delivery vehicles with relatively mature technology, the wet diver delivery vehicles have been used in the underwater delivery of diver for underwater military operations. The delivery of diver with semi-closed/closed circuit rebreather by wet diver delivery vehicles is influenced by multiple factors such as equipment and underwater environment, which significantly increases the risk for underwater diver. Although there are many risks and related treatments of underwater emergencies during diving with semi-closed/closed circuit rebreather has been introduced abroad, but the underwater risks related to the wet diver delivery vehicles and their treatments have not been reported so far. Herein, this study briefly introduce the potential risks in each phase of underwater delivery of diver with wet diver delivery vehicle and discuss the preliminary management of these risks, aiming to better understand the potential risks in each phase of underwater delivery of diver and timely treatment of these risks once they occur. This will benefit the future training of frogmen for underwater military operations and be helpful in the reduction of disability and mortality related to adverse events during underwater frogman delivery.

2022 Vol. 30, No. 6

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