当前通常利用潜艇搜索模型计算研究UUV的搜索能力，然而UUV等小型水下平台在能源及尺度方面受限，其声呐数量较少且配置位置相对受限，若不加区分的采用潜艇搜索模型，将忽略UUV搜索扇面对搜索能力的约束，进而影响搜索能力的计算。本文基于搜索论相关内容，给出随机搜索中相对速度的计算方法，确定相对速度方向的概率分布，区分首部声呐和舷侧声呐提出了搜扫宽度的计算方法，从而建立一种针对UUV或其他受搜索扇面影响较大的水下平台搜索模型，并针对巡逻线搜索和随机搜索两类典型问题对模型进行仿真验证。仿真结果表明模型可靠，相关结论可应用于UUV搜索问题的研究，也可应用于其他具有相似特点的水下机动平台搜索问题。
The research on UUV search ability depends on submarine search model now. Compared to large underwater platform such as submarine, due to the limit of scale and energy for UUV, the sonar was more less, and the position deployed was limited. If the omnidirectional detecting model was used for UUV, the constraint of detecting sector and deployed position will be ignored, so the conclusion on the search ability for UUV will be inaccurate. In this paper, based on the study of search theory, the calculation method of relative velocity in random search was gave, the probability distribution of relative velocity direction was established. The search width of sonar also was calculated by distinguishing between bow-sonar and side-sonar. Then the search model of UUV was established, and underwater platforms whose search ability was affected by detecting sector were also suitable for this model. The model was simulated combined with line search and random search. The results shown it was accurate and reliable, so the model can be applied to the study of UUV search abilities and other platforms with similar characteristics.
2022,44(22): 63-68 收稿日期：2022-04-01
DOI：10.3404/j.issn.1672-7649.2022.22.012
分类号：TJ02
作者简介：刘志浩(1991-),男,博士,讲师,研究方向为水下无人装备技术与运用
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