Interception And Tracking Of Underwater Maneuvering Target Based On Differential Games Guidance

As an effective method to solve continuously bilateral or multilateral dynamic conflicts,differential game could fully embody the decision-making mechanism of the multilateral participation of dynamic equivalence.But effected by underwater complicated work environment and the restriction of underwater equipment structure,when differential games are applied to interception and tracking guidance of underwater maneuvering target,underwater vehicle faces several problems,such as how to make fast and effective decision on the basis of actual mission goal,decision situation,and other available information.To solve this problem,a further study of application and implementation of precise guidance of differential games of underwater vehicle is made in this issue,based on some typical differential game models in situation of chasing and multiple and subordination,and focused on proximate linear terminal countermeasures and scenes in the active and passive detection mode such as countermeasure guidance,proactive defense and subordinate recovery guidance.There are some methods in this issue such as qualitative analysis,rolling forecasts and incidental adaptive prediction and compensation,and information synergy.The following up is the main research achievement.(1).On the basis of proximate linear terminal characters of maneuvering target interception,the guide method of differential games based on the parameter restraint of self-guided acquisition is proposed.This method approximates maneuvering target to a group of measure point scatter set which is containing detection error,and the best parameter range of vehicle capturing target scatter set is set by qualitative analysis methods of the probability model of self-guided parameter acquisition and differential game.This method puts self-guide parameters as a compulsory restraint,and takes the existence of the best answer of differential game based on the feedback control of "Zero Miss" as the condition,and presets the maneuvering parameters of the terminal guidance of the vehicle,for the interceptor to take advantage of mobility and information as much as possible during the terminal interception of maneuvering targets.So the successful implement of the terminal interception guided by the differential games could be ensured effectively.(2).The rolling optimization strategies which are based on the generalized predictive nonlinear continuous differential game games and multiple constrained differential game is put forward respectively based on the information and data characteristics of maneuvering target acquired by the active work mode of the detector in the interceptor.In the utilization of rolling online feedback function of the model prediction,and the advantages of dynamic programming of differential games,the prediction control and differential games are mixed through different forms to put forward the differential games along with the rolling time zone.When the anti-jamming capability of the system is improving,the conservative characteristic of the guidance of differential games simultaneously,so the asymptotic stability of the differential game is ensured.(3).To improve the success probability of interceptor covert attack,the mixed differential game guidance method which is based on adaptive incidental estimation is put forward on the situations that the acquisition of target information is limited under the passive operation mode of detection device of the interceptor and the random delay and absence are accompanying.This method combines the system parameter identification with mode estimation which is based on Bernoulli variable,and utilizes the method of the online prediction of nonlinear time series and the method of accompanying adaption,to predict and compensate the condition output of the optimized maneuvering of the target in real time.On the basis of ensuring that the interceptor obtains effective decision information,the anti-interference ability of the countermeasure system is improved.(4).Combined with the operational characteristics of active defense and the multi-person differential game characteristics,an underwater interception differential game guidance strategy based on active defense is put forward.Based on the principle of line-of-sight guidance,the dynamic countermeasures for the ship and the aircraft to cooperate against the enemy's maneuvering target are guided and designed by the three-body guiding method.Under the condition of ensuring that the decision-making participants could effectively capture each other,the dynamic guidance method and the pursuit-evasion differential game boundary theory that point to the intersection prediction point are utilized to analyze and determine the guidance control parameters of the interceptor to implement the coordinated operation,which are important guarantees of the effective implementation of the active defense differential games.(5).Based on the subordinate relationship between the mobile primal ship platforms during the autonomous recycling process of the vehicle,an underwater homing guidance method for the subordinate differential games for autonomous docking recycling is put forward.The purpose of making both dominated party and subordinate party to confront against unknown interference together could be achieved through taking the primal ship as the dominated party of the countermeasure,and the vehicle as the affiliated party,and according to the subordinate concept of the differential games,using the coupling of the countermeasures in the process of docking and homing and the underwater acoustic communication co-localization method,based on the dynamic model,to obtain the target information and roll the implementation of the tracking and guiding subordinate differential game plan,transforming the subordinate differential game in infinite time domain into subordinate differential games in multiple finite-time fixed-terms,and transforming the dynamic countermeasures with the goal of recycling into dynamic synchronization problems solving the state variables such as position,attitude,speed and acceleration of the two decision-making parties.In this issue,the differential game control methods which are adaptive to different mission requirements and the acquirement methods of underwater decision information are analyzed through the research on the guidance methods of underwater interception and tracking differential game countermeasures under different dynamic countermeasure scenes.Some precise guidance methods are adaptive to underwater maneuvering interception and dynamic tracking in the background of complicated sea.So the improvement of the intelligent level and the application of the engineering of unmanned underwater vehicles could be provided with certain theoretical basis and technical support.