Research On UUV Cooperative Confrontation Method For Region Defense Mission

Because of the small volume,high concealment and strong autonomy of UUV,and the currently developed UUV integrated weapon attack module,this type of UUV has a large application space in the future battlefield.Taking cooperative confrontation method for region defense mission as the research object,this paper studies UUV motion model modeling,UUV motion control method,task module attack method,threat assessment,cooperative method and so on.Firstly,a fixed coordinate system and a motion coordinate system are established.The kinematics equation of UUV is obtained by analyzing the transformation relationship between the two coordinate systems.Because the UUV studied in this paper is a horizontal motion model,the kinematic and dynamical model of UUV is simplified,the 3 DOF motion model of UUV is obtained,and the correctness of the model is verified.UUV velocity controller and UUV heading controller are designed based on PID control method,and simulation experiments are designed to verify the effectiveness of two PID controllers.By analyzing the architecture of single UUV and the architecture of multi-UUV,the paper presents a UUV architecture which is suitable for region defense mission.Secondly,in response to the mission requirements of launching a task module to attack target(for the blue side,the target is the red’s region and maintains its own safety during the completion of the mission and for the red side,it is to destory blue),by comparing the characteristics of the straight-in and corner-arm task module attack modes,the corner task module attack mode is selected;According to the red UUV to protect the red’s region against the blue UUV attack,the blue UUV in the process of completing the attack on the red’s region mission to protect its own security needs,based on the judgment of the attackable conditions to complete the UUV placeholder attack Parameter selection and calculation,design simulation experiments verify the correctness of parameter selection.Thirdly,the threat assessment of the red and blue parties is completed,the red and blue threat elements are proposed and the evaluation index system is established.The Bayesian network reasoning is used to obtain the threat level of the red and blue parties.Aiming at the task requirement of selecting target red UUV when the blue UUV executes the attack task,the threat degree of the red UUVs is ranked by analytic hierarchy process(AHP).Finally,the ranking result is used as the reference for the blue UUV to attack the red UUV.Finally,the basic behavior of UUV is designed,and the red and blue UUV behavior strategies are designed based on the threat assessment results separately.The cooperative method adopted by red UUVs is the role division and task priority,red UUVs complete region defense tasks according to the behavior generated by role tasks;the corresponding solutions are proposed for the possible conflicts between red UUVs;two kinds of red multi-UUV joint defence methods are proposed to improve the combat efficiency,and a simulation experiment is designed to verify the effectiveness of the proposed method.