Research On Formation Deployment And Effectiveness Evaluation Method For Multi-UUV Cooperative Operations

With the advancement of stealth technology,it is increasingly difficult to detect underwater targets through a single UUV,and it is difficult to meet the mission requirements.Therefore,the huge advantages of multiple UUV cooperative detection operations have gradually become an important method for marine defense.However,the research on how to maximize the performance of group operations of multi-UUV collaborative detection and how to evaluate the performance of group operations is still in its infancy.This paper focuses on the two aspects of optimal formation and effectiveness evaluation of multiple UUV cooperative detection operations.The main research contents are as follows:Firstly,a multi-UUV collaborative detection job group was constructed according to the task,and a multi-UUV collaborative detection job formation plan and position matching strategy were designed.Based on the detection and control tasks of multiple UUVs in a wide range of open sea,the composition of the detection operation group,the division of labor and coordination methods of each UUV were determined,and the information interaction method between multiple UUVs was designed.By analyzing typical formation schemes and combining specific task requirements,a two-layer multi-UUV collaborative detection operation formation scheme was proposed,and the basic UUV groups that constitutes the remote detection layer and the short-range positioning layer were determined.Aiming at minimizing the sum of the distance traveled by each UUV,a multi-UUV cooperative detection operation position matching strategy was designed while only considering collision avoidance among UUV members.Secondly,a formation optimization strategy for multiple UUV cooperative detection operations was designed.Based on the particle swarm algorithm,with the goal of maximizing the detection coverage,the linear formation of the basic group in the remote detection layer was optimized;with the goal of the highest positioning accuracy,the active and passive joint detection of the basic group in the short-range positioning layer was optimized.According to the specific area of the controlled sea,the number of UUVs required to form the basic group in each layer was calculated,and the battle positions in the multi-UUV cooperative detection operation formation were calculated by the spatial geometric method.Through simulation experiments,the formation optimization strategy and the calculation method of formation positions were verified and the experimental results were analyzed.Thirdly,according to the designed multi-UUV cooperative detection position matching strategy,a multi-UUV position matching model was established.Based on the auction algorithm,the one-to-one correspondence between the UUV and the preset formation position was determined.According to the position matching results,the space danger zone and time danger zone of the UUV route were determined,and the speed of the dangerous segment during the UUV's arrival was adjusted segmentally.Through simulation experiments,the formation position matching strategy and its algorithm were verified and the experimental results were analyzed.Finally,the analytic hierarchy process was used to evaluate the effectiveness of multiple UUV collaborative detection operations.According to the relevant characteristics of the multiUUV collaborative detection operation,the effectiveness evaluation process and evaluation index set were determined.Considering all the indicators in the indicator set comprehensively,using judgment matrices of different hierarchy for calculation,and finally obtaining the weight of the lowest index relative to the target.According to specific case,a multi-UUV collaborative detection operation group was constructed,and the membership matrix was determined by scoring,ultimately the effectiveness evaluation result was obtained.