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本文对水下载体的可靠的水雷避碰能力作了研究。为了实现某种水雷避碰技术,水下载体装备了障碍避碰声纳(OAS)和能安全航行于未知布雷区的导航系统。水雷避碰技术考虑了声纳和导航系统的物理限制对水下载体的机动性约束和对所有水雷的安全投射距离的要求。对于50个以上不同布雷区的广泛地计算机模拟,证实了水雷的避碰能力。在所有的50次模拟中,载体都达到了预定的终点,并对每一个水雷至少保持一个确定的最小安全投射距离。 该模拟精确地建模的主要困难与声纳、导航系统和载体动态有关。声纳模型包括表面、底部和体积混响;热噪声、环境噪声和流体噪声;实际的接收机和发射机波束图以及虚警和漏检。导航系统模型包括偏倚、随机噪声和比例系数误差的影响。载体动态模型模拟与水下载体角速度和角加速度相关。这个组合是检验水雷避碰技术的可行的模拟。
In this paper, the reliable minefield collision avoidance ability of underwater vehicle has been studied. In order to achieve some kind of mine-avoidance technology, the underwater vehicle is equipped with obstacle avoidance sonar (OAS) and a navigation system capable of safely navigating the unknown minefield. The mine-avoidance technology takes into account the constraints imposed by the physical limitations of sonar and navigation systems on the maneuverability of the underwater vehicle and on the safe projection distance of all mines. Extensive computer simulations of more than 50 different mined areas confirm mines’ ability to avoid collisions. In all 50 simulations, the carriers reached their intended end point and maintained at least a certain minimum safe projection distance for each mines. The main difficulty of modeling this simulation accurately is related to sonar, navigation system and carrier dynamics. Sonar models include surface, bottom, and volume reverberation; thermal, ambient and fluid noise; actual receiver and transmitter beam patterns as well as false alarms and missed detections. The navigation system model includes the effects of bias, random noise and scale factor error. Dynamic modeling of the carrier is related to the angular velocity and angular acceleration of the underwater vehicle. This combination is a viable simulation to test the mine-avoidance technology.