Route Planning Of Black Box Search Based On UUV

Modern aircraft will be equipped with driving information recorders,that is,black boxes.The aircraft and ships are unfortunately sunk at sea.After the black box senses the water entering,the acoustic beacon in the black box will automatically emit sound signals at regular intervals.The underwater unmanned vehicle(Unmanned Underwater Vehicle,UUV)locates the black box based on this signal.In order to achieve rapid positioning of the target of a sea accident,scientifically planning the route is of great significance.Traditional route planning algorithms fail to plan a route that is more suitable for black box positioning according to the special needs of positioning,especially for improving positioning accuracy.Different positioning solution methods have different requirements for air routes,so it is necessary to study and analyze the positioning solution method.According to the characteristics of the black box positioning(the signal transmission time cannot be known,the transmission period may also drift),this paper selects the azimuth angle(DOA)and Second Order Time Difference of Arrival(STDOA).The partial differential method is used to analyze the error spatial distribution of the two positioning methods.The DOA positioning method has a fast convergence speed in the early stage,but the average error is large;the STDOA positioning method has high positioning accuracy,but has special requirements for the solution lattice.Although traditional route planning methods cannot meet the special needs of positioning,they have the advantages of good obstacle avoidance performance,fast convergence speed,and good robustness.This article analyzes several traditional route planning methods(ant colony algorithm,genetic algorithm,artificial potential field).After the method),the planning method can be improved for the black box positioning on the basis of the artificial potential field method.In response to the special needs of black box positioning,this article has conducted an in-depth study of UUV route planning for black box search.According to the black box search mission objectives,the route planning is divided into three phases: the signal detection phase,the survey and guidance phase,and the precise positioning phase.The goal of the signal detection stage is to scan the entire target sea area to receive the acoustic signal from the black box,select a comb-shaped path with high scanning efficiency to search the target sea area,and introduce the WMF algorithm to avoid obstacles;The goal is to locate and guide the UUV to quickly approach the black box based on the received acoustic signal direction information,implement obstacle avoidance operations based on the artificial potential field method,introduce the yaw coefficient to rotate the gravity direction,and use the DOA positioning method error value space Distributed establishment of potential energy field to guide the UUV’s heading,taking into account the positioning accuracy and fast approach to the black box;the goal of the precise positioning stage is to locate the black box with the highest accuracy,and the artificial potential field method is used as the basic algorithm to introduce the "nuclear force" to control the distance.",it can achieve the highest positioning accuracy while planning the obstacle avoidance path.Finally,this article introduces the design and implementation of the route planning system on the Qt software development tool.The function and process of the route planning software are simulated and simulated,and the positioning can be carried out according to the angle,time delay,AUV coordinates and other information simulated by the setting error,and then the route planning is carried out according to the black box coordinates obtained by the positioning solution,complete simulation The entire black box search process.