Research On Modeling And Simulation Technology In Operational Unmanned Underwater Vehicle

UUV military systems belong to the hybrid system which consists of the continuous system(mainly involving the dynamic behavior of the vehicle)and the discrete event system(mainly involving combat logic),such as torpedo,self-propelled mine and decoy.There are following problems of current modeling and simulation technology:(1)The traditional military concept modeling methods often focus on the description of C2 and neglect the dynamic behavior of the entity;(2)The modeling of hybrid system doesn't use the unified definition of the atomic model;(3)The compositional simulation modeling process is disconnected from the scenario model.This dissertation focuses on approaches to scene-driven conceptual modeling of UUV combat simulation,IHDEVS-based simulation modeling of the equipment entity model and scenario-oriented component composition.And the simulation of UUV underwater navigation and control based on flocks-optimized particle filter is completed and a UUV combat distributed interactive simulation system is constructed.The main research results and innovations are as follows:(1)Because previous military conceptual modeling methods cann't meet the needs of UUV combat simulation conceptual modeling across the tactical and technical level,the scenariodriven conceptual modeling approach is proposed with the introduction of scene in software engineering,which describes combat process and entitative action by corresponding missons and actions.Based on the analysed domain features of UUV combat simulation,the definition,evaluation criteria and hierarchy of corresponding conceptual model is given and the domain ontology composed of entities and tasks is built.The process of scenario-driven conceptual modeling includes the generation of scene based on goals,the transformation procedure from scene to event chain,the common syntax and semantics for the expression of conceptual model and formatted meta-model table.Finally,the surface ship antisubmarine process is taken as an example for conceptual modeling,which shows that the proposed approach can meet needs of conceptual modeling at levels of tactical antagonism and technical development through the built engagement-level and engineer-level conceptual models correspond to UUV combat simulation.(2)To solve the inconsistent problem of modeling form in hybrid system modeling due to two definitions of atom models,the modeling method-IHDEVS is proposed for modeling of equipment entities through the design of hybrid atomic model.Considering the function of equipment entity and the level of model abstraction,structure of DL-SICAM model and formal definition of IHDEVS are presented.The adoption of the method of system entity structure generates model systems of UUV combat simulation and the general operational framework and interface of entity model is built.On this foundation,the behavior of the model such as torpedo weapon can be expanded,which means the addition of an autonomic decision-making structure and decision-matching – mapping rule base.Then the development of model realized by component and model representation based on meta-component and ontology are carried out in ADEVS environment.It shows that the proposed method can maintain consistent form of the target system,support parallel development of the model and improve the multilayer reuse of the model through a typical example.(3)Aiming at insufficient details of composition targets caused by the lack of association between the scenario model and the composition approach in composable simulation,a component composition approach oriented to scenario is proposed.Firstly,the specification of scenario and corresponding analytic process based on task ontology are given,which generates the requirement of composition through the distribution relationship between tasks and entities.Then the discovery and selection algorithm based on component ontology and rule-driven matching and composition algorithm in syntax,semantic and pragmatic level are designed.Construction of simulation is expounded based on the composition script.Finally,it shows that the proposed approach can realize the model composition accurately and effectively through the simulation experiment of attacking surface ship by the submarine.(4)In the remote UUV integrated navigation the algorithm of kalman filter and particle filter can not meet the precision requirements.Thus,an underwater integrated navigation method based on flocks-optimized particle filter is designed.In the mathematical model of integrated navigation system composed of SINS and DVL,the flocks-optimization algorithm is embedded into the sampling stage of particle filter and analyzed about the correlation between the individual fitness and the weight of particle,which is applied to iteratively optimize the distribution of particles through the individual movement.And the particle weight as the fitness is used to generating structure of the concerned population.The simulation test shows that the navigation accuracy of the optimized particle filter algorithm is better than other common used algorithms.Then the integrated simulation software of navigation and control which consists of integrated navigation,dynamics and control systems is built.The simulation result shows that the performance of navigation can meet the requirement of position accuracy in UUV remote delivery.(5)On the basis of the key technologies proposed above,the UUV combat simulation system composed of red carrier,torpedo,target platform and anti-torpedo weapons is built by applying the distributed interactive simulation technology to show the engagement between platforms and weapons of two opposite parties.With the analyzed requirement and staged scenario,the system architecture and running process are given.The information interacting among nodes and HLA/ADEVS engine for federates are designed.Approach of component composition is applied to construct the simulation system.With a typical simulation application,the developed system shows good capacity of reconstruction,which provides the research foundation for performance analysis of equipments and tactical development...