Self-Guidence And Route Rolling Planning Method For UUV Approaching Non-cooperative Target

The tracking and approaching of underwater non-cooperative targets is one of the core technologies for the Unmanned Underwater Vehicle(UUV)to realize the disposal of underwater non-cooperative targets.When the UUV is performing the task of tracking and approaching underwater non-cooperative targets,in view of the situation that the traditional target tracking approach method relies on the acquisition of the initial value of the target,this paper selects the passive detection method to estimate the target position based on the passive detection information,and develops the UUV approach to underwater Research on the methods of self-guided and rolling route planning for non-cooperative targets.The main research content includes the following aspects:First,the characteristics of underwater non-cooperative targets are analyzed,and the system equations and observation equations of UUV tracking and approaching targets based on the kinematics model of typical non-cooperative targets and the Kalman filter framework are established.Based on the principle of pure azimuth target motion analysis,the observability analysis of the underwater non-cooperative target motion model is completed,combined with the task requirements,it is analyzed that the UUV cannot maintain the observability of the target through a specific motion form.Secondly,given the task detection load and function,the active and passive detection sonar system for UUV has the problem of non-linear statistical characteristic noise when detecting the target position information.Based on the principle of nonlinear Kalman filtering,the filtering estimation method of target position data is analyzed and compared.The target azimuth estimation is completed under the Kalman filter framework,which provides higher-precision azimuth data for subsequent UUV tracking and approach tasks.Thirdly,due to the completely unobservable nature of the UUV tracking and approaching underwater non-cooperative targets,the mission is a single-station passive pure azimuth approach mission.Analyzed the application scenarios of traditional guidance methods.obtained LOS guidance and proportional guidance methods suitable for UUV,simulated the advantages and disadvantages of the two methods,designed a UUV guidance method based on the switching strategy of LOS and proportional guidance,and gave The implementation process of the guidance switching strategy is presented.Finally,due to the unknown maneuverability and dynamic uncertainty of the underwater non-cooperative target’s movement,the aircraft cannot complete the global route planning at one time by measuring the target position information.Combining the principle of route rolling planning and mission requirements,the design is based on Rolling planning of UUV guidance route based on LOS and proportional guidance switching strategy.Simulation shows that this method can combine the advantages of LOS guidance and proportional guidance under the condition of only acquiring the target position,and can achieve better route rolling planning,and provide an initial position for subsequent UUV disposal of underwater non-cooperative targets.