Multi-Submarine Vehicle Detection Model For Underwater Target Search And Rescue Construction And Analysis

With the deepening of human understanding of the strategic position of the oceans,the exploration of marine resources,and the value of marine scientific research,countries around the world have raised their attention to the oceans to unprecedented strategic heights.Underwater vehicles are one of the important tools for humans to understand the ocean,develop marine resources,and explore the ocean.The detection probability and coverage of underwater targets are important indicators for evaluating the detection and monitoring of marine areas by underwater vehicles.These indicators can guide the underwater target detection and search tasks of underwater vehicles,thereby improving the efficiency of target detection and search and rescue.However,existing research generally focuses on cooperative underwater detection algorithms with multiple submersibles to improve detection efficiency and expand the scope of spatiotemporal monitoring.Determining the optimal trajectory for underwater vehicle detection from a theoretical level and analyzing the impact of formation on detection probability can provide theoretical guidance for underwater target detection.To address the above issues,this paper builds a multi submersible vehicle detection model based on measurement theory for underwater search and rescue needs and analyzes its performance.The main research work is as follows:In order to solve the problems of judging the presence or absence of a target,the narrow spatiotemporal range of single submersible perception,and the low efficiency of target detection,a theoretical model of coverage and target detection probability for multiple submersible formation detection in linear formation is proposed using the method of measurement theory,which is used to predict the coverage and detection probability of multiple submersible formation detection.Based on the theoretical model,the impact of the sensing range and moving speed of the submersible on the detection probability is analyzed.Before the detection task is executed,the detection task can be pre analyzed using a multiple submersible linear formation detection model to further improve the completion efficiency of the detection task.The validity of the theoretical model is verified by simulation results.Aiming at the needs of underwater target search and rescue,considering the difficulty in locating the location of the searched and rescued target due to the collinearity of linear formations,a multi submersible detection model under triangular formations is proposed.The complex submarine formation is modeled through formation angle,separation distance,and sensing radius,and then the optimal formation detection trajectory is pointed out through theoretical proof.Based on the optimal detection trajectory,a theoretical model of coverage and target detection probability for complex formations is constructed.At the same time,considering the communication loss between submarines,the optimal formation of submarines is pointed out for the constructed detection model.In addition,the effects of formation angle,separation distance,sensing radius,and the moving speed and detection time of the submersible on the target detection probability are further analyzed.The optimal detection trajectory is verified through pool experiments,and the simulation proves the effectiveness of the theoretical model.