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In this paper, intelligent guidance and control laws are developed for an autonomous underwater vehicle to engage underwater targets. The engagement of underwater targets is suffered from uncertainties of the complicated underwater environment, short detecting range of the sonar seeker, the low speed ratio between vehicle and target, and longtime o...
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... form of the vertical sound profile is extremely important to the propagation of sound in the oceans. Two velocity minima are shown in Fig.1, one at the surface and one between Zone 2 and Zone 3. ...
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... .10 shows the target engaging concept, in which LOS is the line of sight to target, LOF is line of fire of the vehicle, predicted target position (PTP) is the target information get from vessel sonar target acquisition system(TAS), residual distance is the distance between vehicle position (Xm,Ym) and PTP, dashed-area is the target possible position area after the vehicle reaching. ...
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... general, target course information is more reliable than position for diffraction and reflection of sound propagation in the vertical plane. Fig.10. The target engaging concept. ...
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... system functional flow is shown in Fig.11. The vehicle is initialized, tested and launched from the vehicle fire control system (FCS). ...
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... then go to internal guidance process, UAV position estimation and target position estimation. The flow chart of the internal guidance law is shown in Fig.12. The condition of target acquisition is classified as (1) target never contact( TC ), (2)target contact(TC), (3) target detected(TD), and (4) target lost(TL). ...
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... circular motion is one clockwise motion plus one counter clockwise motion; depth of the vehicle is changed up and down periodically; and the sonar operation mode is in active mode for clockwise motion and in passive mode for counter clockwise motion and linear motion; the vehicle speed is medium speed for moving forward and low speed for circular motion. The programming logic of above statements is shown in Fig.12. Note that control modes shown in Figs.6 and 7 are given in Table 2. ...
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... that control modes shown in Figs.6 and 7 are given in Table 2. The simulation results of the mid-course target search is shown in Fig.14. ...
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... the searching area after the vehicle reaching the PTP and the target is not ever contacted( TC ). Fig.15(a) shows the planning of vehicle motion. ...
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... section is constructed by the searching process shown in Figs.13 and 14. Fig.15(b) shows the simulation results for the searching process. ...
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... shows the simulation results for the searching process. Fig.15(a). Searching loci of the over-predicted target search. ...
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... loci of the over-predicted target search. Fig.15(b). Simulation results of over-target search( From PTP to Target Tracked). ...
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... it will be changed to the PN process after the vehicle has headed to the target. The target homing with full PP guidance is shown in Fig.16 for different target moving course. ...
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... target homing with full PP guidance is shown in Fig.16 for different target moving course. Fig.16. Target homing with the PP guidance. ...
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... time(Time_pn) for performing Proportional Navigation (PN) guidance is after the PP guidance has performed 20" and the heading error less than 2°(shown in Fig.13). Fig.17 shows the homing process for different target escaping course. ...
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... time(Time_pn) for performing Proportional Navigation (PN) guidance is after the PP guidance has performed 20" and the heading error less than 2°(shown in Fig.13). Fig.17 shows the homing process for different target escaping course. ...
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... guidance laws have been discussed. They are connected by the system flow chart shown in Fig.12. The first object of the proposed intelligent guidance laws is to find the underwater target in the complicated environment, and then intercept it with adaptive homing guidance laws. ...
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... target detection error is 500m in Y-axis. Simulation results are shown in Fig.18, in which gives (a)Mid-course(cruise) phase; (b)Mid-course (search); (c)PP/PN homing process. Note that the programming depth control can eliminate the shadow zone shown in Fig.2. ...
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Citations
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