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首页> 外文会议>OCEANS 2017 - Aberdeen >Target detection-oriented model design for unmanned underwater vehicles
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Target detection-oriented model design for unmanned underwater vehicles

机译：面向目标检测的无人水下航行器模型设计

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Unmanned underwater vehicles (UUVs) are a kind of marine power multipliers, with extensive and important applications for scientific research. It is out of question that UUVs will play an irreplaceable role in marine detection. In this paper, the issue of model design for UUVs with the purpose of marine detection is studied. A well designed architecture for UUV model is proposed first, which includes the motion control model, the decision model and the detection model. Secondly, the motion control model is described in detail, which satisfies the navigation control for UUVs in three-dimensional space. Thirdly, the detection model based on the active sonar equation is addressed in order to obtain the detected position. The influence factors related to the sonar equation are taken into consideration. Afterwards, a decision model based on the particle filter (PF) is presented in order to improve the accuracy of target detection and ensure the stable and effective tracking. In the end, the detection simulation experiments in typical sea areas are designed. Experimental results prove the reliability and effectiveness of the designed UUV model.
机译：无人水下航行器（UUV）是一种船舶动力倍增器，在科学研究中具有广泛而重要的应用。毫无疑问，UUV在海洋探测中将扮演不可替代的角色。本文研究了以海洋探测为目的的UUV的模型设计问题。首先提出一种设计良好的UUV模型体系结构，包括运动控制模型，决策模型和检测模型。其次，详细描述了运动控制模型，该模型满足了UUV在三维空间中的导航控制。第三，提出了基于主动声纳方程的探测模型，以获得探测到的位置。考虑与声纳方程有关的影响因素。然后，提出了一种基于粒子滤波器的决策模型，以提高目标检测的准确性，并确保稳定有效的跟踪。最后，设计了典型海域的探测模拟实验。实验结果证明了所设计的UUV模型的可靠性和有效性。

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