Research On Buoy Navigation Predict And Communication Between Formation

The motorized sonobuoy developed by Harbin Engineering University is different from the traditional anchor sonobuoy.Due to the installation of the propulsion system and the navigation system,the motorized sonobuoy has good maneuverability and can go to the target position independently according to the planning path.The location keeping function is novel and practical,when affected by wind and waves floating away from the positioning point,it can rely on its own power to automatically return to the positioning point,so as to maintain the accuracy of measurement formation.Subject to the communication distance,the uncertainty of the network topology,limited energy,limited bandwidth.How to carry on the communication between the buoys in an optimal way has very important research value.And how to effectively use the sonobuoy network,to achieve safe and collision-free deployment and recycling,but also placed in front of the researchers to be solved.Aimed at the above problems,this paper firstly describes the research object in detail,including the shape,structure and control system of the mobile sonobuoy.With reference to the ship motion and modeling,combined with the characteristics of the mobile sonobuoy application,the pitch and other three degrees of freedom are decoupled,A single-degree-of-freedom trim model and a three-degree-of-freedom kinematics and dynamics model are established.Considering the interference of the mobile sonobuoy during navigation,a model of ocean current and ocean wave interference is established.Finally,the trim control is simulated.Secondly,aiming at the problem of maneuvering sonar buoy forward position control,In this paper,a controller based on model predictive control is designed.By using the Taylor expansion method to predict the performance of the model,the linear predictive control law of the maneuvering sonobuoy based on model predictive control is obtained.At last,the simulation experiment with ocean current jamming environment was carried out.Thirdly,the optimal communication method of buoy formation is studied.A mobile sonobuoy mobile ad-hoc network is constructed,which is composed of a plurality of mobile sonobuoy and the communication equipment of the mother ship is connected through the wireless communication link.The remote node and the mother ship node realize the information exchange by multi-hop communication.The structure of the network is the whole interconnection plane structure,and an improved GSR routing protocol is adopted to communicate between the buoys,and the optimal route is calculated by Dijkstra andKruskal algorithm.Finally,the simulation of the communication between the buoy and the mother ship and the communication between the buoys is carried out.Finally,the research on anti-collision of mobile sonobuoy formation under interactive communication.Based on the unique advantages of MANET,the mobile sonobuoy can acquire the accurate motion state of buoyant buoy at any time.Based on this,the buoy zero-order method based on risk assessment is proposed,According to the DCPA and TCPA among the nodes,the collision risk level is estimated and the position of the collision is predicted to avoid the possible collision risk.