UUV集群协同探测与数据融合技术研究
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摘要
简述无人水下航行器(UUV)集群协同探测的原理和特点,介绍国外UUV集群协同探测技术的发展和应用现状。设计1种基于主从网络结构的UUV协同探测方案,分析3种编队队形的探测性能,讨论了探测、导航、通信一体化数据融合的方法。
Principle and characteristic of unmanned underwater vehicles(UUVs) cooperative detection are described in this paper, and the developments and applications status abroad are introduced as well. A master-slave network based scheme for cooperative detection is proposed here, and the detection performances are analyzed according to three different formation patterns, and the data fusion approach integrating detection, navigation and communication is discussed.
Principle and characteristic of unmanned underwater vehicles(UUVs) cooperative detection are described in this paper, and the developments and applications status abroad are introduced as well. A master-slave network based scheme for cooperative detection is proposed here, and the detection performances are analyzed according to three different formation patterns, and the data fusion approach integrating detection, navigation and communication is discussed.
引文
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[2]陈玮,吴泽伟,吴晓锋.UUV协同探测的现状与发展前景[J].舰船电子工程,2009,29(2):6-8.CHEN Wei,WU Ze-wei,WU Xiao-feng.Current status and future directions of UUVS cooperation probe[J].Ship Electronic Engineering,2009,29(2):6-8.
[3]单忠伟,陈伏虎,白兴宇.基于UUV的水下警戒探测技术和发展趋势[J].声学与电子工程,2009(2):45-48.SHAN Zhong-wei,CHEN Fu-hu,BAI Xing-yu.Underwater alert detection technology based on UUV and its development trend[J].Acoustic and Electronics Engineering,2009(2):45-48.
[4]许真珍,封锡盛.多UUV协作系统的研究现状与发展[J].机器人,2007,29(2):186-192.XU Zhen-zhen,FENG Xi-shen.Current status and future directions of multiple UUV coopera-tion system[J].Robot,2007,29(2):186-192.
[5]BYRNE R H,ESKRIDGE S E,HURTADO J E,et a1.Algorithms and analysis for underwater vehicle plume tracing[R].USA:DARPA,2003.
[6]李启虎.声呐信号处理引论[M].北京:科学出版社,2012.LI Qi-hu.An introduction to SONAR signal pro-cessing[M].Beijing:Science Press,2012.
[7]陈华伟,赵俊渭,郭业才.五元十字阵被动声定位算法及其性能研究[J].探测与控制学报,2003,25(4):11-16.CHEN Hua-wei,ZHAO Jun-wei,GUO Ye-cai.Acoustic passive location algorithm based on a planar five-element array and its performance analysis[J].Journal of Detention and Control,2003,25(4):11-16.