Research On Resource Optimal Allocation Technology Of Heterogeneous Multi-Node Detection System

With the continuous extension of the underwater battlefield to the deep sea and complicated environment,the demand for underwater clustering and intelligent detection capability is progressively crucial.Among them,the heterogeneous multi-notes sonar cooperative detection system based on the mobile platform,has the comprehensive advantages of flexible working mode,strong strategic deterrence.However,problems such as the large difference of detection performance of heterogeneous nodes,and significant influence caused by multi-node situations and motion path on detection performance become the bottleneck of exploiting the advantages of a heterogeneous multi-node system.By utilizing the swarm intelligence optimization algorithm,this thesis aims at optimizing the position,attitude,and motion path of the sonar platform,which is mutually coupled with detection efficiency,according to different application requirements.The proposed optimization operation can realize the multi-nodes cooperative detection capability with better positioning accuracy,larger detection range,and higher search efficiency.This thesis achieves the modeling and optimization from the three stages of multi-node cooperative work: target detection,target positioning and target searching,based on swarm intelligence optimization algorithm.Firstly,this thesis establishes the efficiency analysis model of a heterogeneous multi-node detection system which is coupled with environment-targetplatform effect,aiming at the requirements of multi-node target detection efficiency analysis.It is based on detection region,geographical environment,detection node platform conditions,detection node performance,target acoustic characteristics and other factors.Thus,the dynamic analysis of heterogeneous multi-node detection systems is realized.Regarding the problem of cooperative target positioning in a given region,this thesis designs a multi-node positioning configuration optimization approach based on an example of two-node system positioning.The proposed method can accomplish the joint optimization of multi-node positioning and node posture under the global high positioning accuracy criterion based on the bee colony optimization algorithm and the improved whale optimization algorithm.Finally,in order to solve the problem of multi-node target search in multi-working mode,the thesis exploits the cluster path planning technology based on NSGA2 algorithm,achieving efficient search coverage of a given area in patrol mode.In summoning mode,the underwater moving target search planning method based on Hidden Markov Model(HMM)is adopted to realize the fast search for suspected targets.Moreover,the underwater moving target path planning method is used to realize both the fast approach of suspected targets and the efficient search coverage of a given area based on the digital pheromone.To verify the correctness and effectiveness of the above algorithms,this thesis conducts the numerical simulations under multiple environmental conditions and working conditions based on the efficiency model of heterogeneous multi-node detection system.This work provides theoretical and technical support for the formation of cooperative detection capability of underwater UUV clusters.