摘要
目前提出的水下目标追踪航行器轨迹规划方法,抗干扰能力差,导致规划结果实时性较差。为解决该问题,提出海流随机干扰下水下目标追踪航行器轨迹实时规划方法。确定水下航行器轨迹控制理论,构建控制模型。设置定位矩阵,分析定位精度,同时研究位置、纵向速度、旋转角速度以及横向速度,并设置实时规划方案。实验结果表明,给出的海流随机干扰下水下目标追踪航行器轨迹实时规划方法能够有效提高抗干扰能力,增强规划结果的实时性。
The proposed trajectory planning method for underwater target tracking vehicle has poor anti-interference ability, which leads to poor real-time planning results. In order to solve this problem, a real-time trajectory planning method for underwater target tracking vehicle under random ocean current interference is proposed. The trajectory control theory of underwater vehicle is determined and the control model is built. The positioning matrix is set, the positioning accuracy is analyzed, the position, longitudinal velocity, rotation angular velocity and transverse velocity are studied at the same time,and the real-time planning scheme is set. The experimental results show that the proposed real-time planning method for underwater target tracking vehicle trajectory under random ocean current interference can effectively improve the anti-interference ability and enhance the real-time planning results.
作者
刘小飞
李明杰
LIU Xiao-fei;LI Ming-jie(Sanya University,Sanya 572022,China)
出处
《舰船科学技术》
北大核心
2021年第4期43-45,共3页
Ship Science and Technology
关键词
海流随机干扰
水下目标
目标追踪
航行器
轨迹规划
实时规划
ocean current random interference
underwater target
target tracking
aircraft
trajectory planning
real-time planning
