Target Detection-Oriented Model Design for Unmanned Underwater Vehicles

摘要

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.