An Analysis Of The Integrated Optimal Design Of The Unmanned Underwater Vehicle Considering The Surface Navigation State

The ocean contains a lot of rich resources.In recent years,the development,exploration and monitoring of the ocean,especially the underwater resources,has become an important strategic goal of various countries.But it is worth noting that the current state of the marine environment is not optimistic,and pollution is becoming more and more serious,so research and development of intelligent monitoring unmanned boats is imperative.However,it is difficult for traditional UUV or USV to comprehensively monitor part of the water environment and detect resources,so it is of great value to further study the combination of UUV and USV.In this paper,a type of unmanned underwater vehicle is optimized by fuzzy evaluation method,and the design is further improved,the mathematical model is constructed,the comprehensive optimization calculation is completed,and according to the results obtained,the model of the intermediate test boat is made.Finally,the correlation function and function test of the model of the unmanned boat are carried out.The specific research work is as follows:1.Through analysis and research on the research status and progress at home and abroad,based on the fuzzy mathematics evaluation method,establish a fuzzy evaluation mathematical model,conduct a variety of types of unmanned boat selection analysis,and choose one that can take into account the water surface.Unmanned underwater vehicle type,to improve the design of boat type;2.A comprehensive optimization mathematical model of maneuverability,rapidity and functionality is established,which includes three elements: objective function,constraint condition and design variable.A set of optimization calculation program is rewritten,which is suitable for this type of unmanned boat.The main scale and other main parameters of the boat type are obtained by using genetic algorithm,chaos algorithm and particle group algorithm to optimize the calculation and comparative analysis.;3.Based on the optimized calculation results,a reasonable reduction ratio was determined,the main parameters of the intermediate test boat were obtained,the preliminary design of the intermediate test boat model was carried out,and the propulsion system,control system,external perception system and lifting system were completed.And the relevant design of the intelligent navigation system,through the monitoring interface in the intelligent navigation system,it can intuitively and effectively display the information of the unmanned boat and the situation of the water environment;4.After the detailed design of the system,the model of the intermediate test boat was successfully completed,the watertight test was conducted on the sealed cabin,the installation of the main system equipment was completed,and the necessary equipment debugging was carried out.5.Finally,the commissioned intermediate test boats were tested for relevant navigation performance,including rapidity test,maneuverability test,and heave test,etc.,which reflected the excellent performance of unmanned boats;completed intelligent navigation and water monitoring Other functional tests have effectively verified the accuracy of data transmission and the reliability of the monitoring client.