子母式UUV系统海底探测成阵作业协同一致性问题研究

近年来，国际上日益重视深海UUV的研发与应用，子母式UUV系统是研究热点，而海底成阵布放、阵型协同和序列回收是其难点。瞄准利用子母式UUV系统解决水下探测难题的迫切需求，拟立项研究子母式UUV系统海底探测的收放及成阵协同一致性控制问题，探索在深空间海底声磁组合探测原理，创建子母式探测成阵模态与阵型协同布放位姿导引方法；构造子母式UUV系统信息交互架构，时空限界下布放成阵与回收近进序列优化及自适应路径；阐明基于数字孪生的探测阵位协同策略生成与学习机制，提出子母式UUV系统的探测阵位协同的慎思自主决策方法，仿真验证其探测水中目标的可行性。通过项目研究，主要攻克子母式UUV系统深空间海底探测的阵型模态、时空路径优化及慎思自主决策等协同难题，突破子母式布放成阵与回收近进序列优化的协同一致性控制技术,明确概念图像并形成子母式UUV系统设计的总体概念方案，为解决水中目标探测的难题奠定扎实的理论基础。

In recent years, more and more attention has been paid to the research, development and application of deep-sea UUV around the world. The sub-parent UUVs becomes as a research hotspot, while the laid out array, cooperative consistency and advance recovery are the difficulties at deep seabed. To solve urgently the detection at deep seaded, the project is designed to study the consistency of for laid out array, advance recovery with the sub-parent UUVs. It will explore the principles of undersea detection using acoustic and magnetic combinations at deep seabed, create the modes of array and coordinate the positional and attitude guidance methods according to the array. In this project, the architecture of sub-parent UUVs is constructed, which is used for undersea network communication with fiber at deep seabed. Under the constraints of the spatial and temporal constraints of deep seabed, the optimization and adaptive path of the near advance sequence of the system launch and recovery are studied. The generation and learning mechanism of cooperative strategy based on digital twin is illustrated. It proposes a deliberative and autonomous decision-making method for detecting array coordination of sub-parent UUVs. A simulation system is built and perfected to verify the feasibility of the proposed method. The purpose is to overcome the difficult problems of consistency control such as exploring array mode, spatio-temporal path optimization and deliberating autonomous decision-making by the sub-parent UUVs at deep seabed. It breaks through the cooperative consistency control technology for the laid out array and advance recovery. Through the research, the conceptual image is clarified and the overall conceptual scheme of the sub-parent UUVs design is formed. It would lay a solid theoretical and technical foundation for solving the problem of target detection at deep seabed.