LU J X , WANG C , SONG W C , et al. Experimental investigation on interference characteristics of projectiles launched successively underwater [J ] . Ocean Engineering , 2022 , 250 : 110824 .

施瑶 , 任锦毅 , 高山 , 等 . 航行体水下连续发射尾涡遭遇与运动干扰特性 [J ] . 兵工学报 , 2023 , 44 ( 10 ): 3195 - 3203 . DOI: 10.12382/bgxb.2022.0616 http://doi.org/10.12382/bgxb.2022.0616 为研究不同发射时间间隔下航行体水下连续发射尾涡干扰与弹道特性,基于Realizable k-ε湍流模型和能量方程、流体体积方法和重叠网格技术,开展数值方法和网格无关性验证,数值模拟结果与实验测试结果吻合度较好。建立航行体水下连续发射数值模拟方法,研究航行体尾流区涡结构的演变机理、次发航行体表面压力分布、弹道以及俯仰姿态演变规律。研究结果表明:航行体水下连续发射过程中在其尾流中发现了发卡涡形态的流动结构,该涡结构由涡头与两条涡腿组成,通常以多个共同组合的形式存在于航行体尾部的流场区域中;沿涡腿内侧发生喷射事件,沿涡腿外侧发生扫掠事件,同时在涡结构内部形成一定流向尺度的低速条带区域;在横流效应下,当次发航行体表面穿过尾流中涡结构中的低速条带区时,迎背流面压力分布特性得到较大的改善,增加了弹道姿态稳定性。

SHI Y , REN J Y , GAO S , et al. A study on the wake vortex encounter and movement interference characteristics of projectiles successively launched underwater [J ] . Acta Armamentarii , 2023 , 44 ( 10 ): 3195 - 3203 . (in Chinese) DOI: 10.12382/bgxb.2022.0616 http://doi.org/10.12382/bgxb.2022.0616 In order to study the wake vortex interference and trajectory characteristics of projectiles launc hed successively underwater at different launching time intervals, based on the Realizable k-ε turbulence model and energy equation, volume of fluid (VOF) and overlapping grid technology were adopted. Firstly, verification of numerical method and validation of grid independence were presented. The numerical simulation results were in good agreement with the experimental results. Then the numerical simulation method of projectiles launched successively underwater was established. Based on these, the pressure distribution on the side facing the inflow as well as on the backside, trajectory and pitch attitude, particularly the evolution mechanism of vortex in wake flow were studied. The results showed that hairpin vortex-like flow structure was found, multiple hairpin vortex-like flow structures usually exist in a combined form in the flow field region at the tail of the vehicle. The jet event occurred along the inner side of the vortex leg, and the sweep event occurred outside the vortex leg. Meantime, along the inside of the vortex, a low-speed band with a certain streamwise scale was formed. Under the transverse-flow effect, when the surface of the secondary projectile passed through the low-speed strip region of the vortex in the wake, the pressure distribution characteristics of the flow facing side and its opposite side were greatly improved, the stability of trajectory and pitch attitude was increased.

刘方 , 肖金石 , 韦建明 , 等 . 水下连续发射弹体干扰特性及发射时序优化 [J ] . 兵工学报 , 2024 , 45 ( 1 ): 197 - 205 . DOI: 10.12382/bgxb.2022.0576 http://doi.org/10.12382/bgxb.2022.0576 随着对饱和攻击需求的提高,潜艇连续发射过程的发射时序协调控制研究变得迫切而紧要。考虑到弹体间的流体动力干扰是影响安全发射的主要因素,基于重叠网格多自由度仿真技术,针对连续发射的水下弹体开展姿态弹道干扰特性研究。通过分析流场结构发现,以一定攻角发射的弹体形成的发卡形尾涡是造成后续弹体姿态弹道差异的主要原因。根据不同艇速、时间间隔和空间间隔下弹体间的干扰特性建立干扰评价模型。在保证干扰不影响后续弹体的前提下,以最短发射时长为目标,以综合评价函数为约束,基于改进的贪心算法对大筒多弹式布局的水下弹体开展发射时序优化研究,并采用均匀抽样方法验证优化结果准确性。研究结果表明:相对于均匀抽样方法,改进的贪心算法具有相当的计算准确度和更高的计算效率。

LIU F , XIAO J S , WEI J M , et al. Interference characteristics and launch sequence optimization of projectiles launched successively underwater [J ] . Acta Armamentarii , 2024 , 45 ( 1 ): 197 - 205 . (in Chinese) DOI: 10.12382/bgxb.2022.0576 http://doi.org/10.12382/bgxb.2022.0576 With the increasing demand for saturation attacks, the research on the optimization of launch sequence of projectiles launched successively underwater has become important and urgent. Considering that the hydrodynamic interferences between two underwater projectiles are the main factor affecting launch safety, this paper studies the interference characteristics of projectiles launched successively underwater based on the overlapping mesh methods. By analyzing the flow field, it is found that the hairpin vortices formed by the projectile with an angle of attack are the main reason leading to the attitude difference between two projectiles. An interference evaluation model is established according to the interference between the projectiles under the conditions of different transport speeds, time intervals and space intervals. To ensure that the former projectile interferes little with subsequent projectiles, the launch sequence of projectiles fixed at a launch tube is optimized based on the improved greedy algorithm, in which the shortest launch duration is taken as the goal and the comprehensive evaluation function as the constraint. The uniform sampling method is used to verify the accuracy of the optimized results. The results show that the improved greedy algorithm has comparable accuracy and higher efficiency compared with the uniform sampling method.

SHI Y , WANG G H , PAN G . Experimental study on cavity dynamics of projectile water entry with different physical parameters [J ] . Physics of Fluids , 2019 , 31 ( 6 ): 067103 .

杨晓光 , 党建军 , 王鹏 , 等 . 波浪对航行体高速入水载荷特性影响 [J ] . 兵工学报 , 2022 , 43 ( 2 ): 355 - 362 .

YANG X G , DANG J J , WANG P , et al. The influence of waves on the impact load during high-speed water-entry of a vehicle [J ] . Acta Armamentarii , 2022 , 43 ( 2 ): 355 - 362 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2022.02.013 http://doi.org/10.3969/j.issn.1000-1093.2022.02.013 The load characteristics of a vehicle entering into water at high-speed under wave conditions are key factors influencing the overall plan and structural design of vehicle. VOF multiphase flow model and dynamic grid technology are used to establish a numerical simulation method of high-speed water-entry, and the accuracy and applicability of the simulation method are verified by experiments. The influences of water entry angle and wave parameters on the axial impact load during high-speed water-entry events are numerically studied. The results show that the peak axial impact force coefficient increases with an increase in the water-entry angle, and has a linear relationship with the tangent function of water-entry angle. The different wave phases change the actual angle between the vehicle and the water surface at the water-entry moment. When entering into the water at 90° or 270° wave phase angle, there is little difference between the axial impact load and that in static water environment; when entering into the water at 0° wave phase angle, the peak value of axial impact load is the largest, and it is basically the same as the axial impact load at the corresponding water-entry angle on static water surface; when entering into the water at 180°wave phase angle, the axial impact load is the smallest, but it is prone to ‘jump’ and cause failure in the water-entry. The actual water-entry angle should be the coupling value of the wave inclination and the vehicle attitude at the entry point under wave conditions, the peak axial impact force coefficient can be obtained by interpolating the peak coefficient curve of impact load in static water environment.

MA G H , CHEN F , YU J Y , et al. Numerical investigation of trajectory and attitude robustness of an underwater vehicle considering the uncertainty of platform velocity and yaw angle [J ] . Journal of Fluids Engineering , 2019 , 141 ( 2 ): 021106 .

姚熊亮 , 赵斌 , 马贵辉 . 跨介质航行体出水问题研究现状与展望 [J ] . 航空学报 , 2024 , 45 ( 14 ): 029598 .

YAO X L , ZHAO B , MA G H . Research status and prospect of cross-media vehicle water-exit problem [J ] . Acta Aeronautica et Astronautica Sinica , 2024 , 45 ( 14 ): 029598 . (in Chinese)

张旭 , 李万鹏 . 跨介质出水航行器水下信息获取技术发展与展望 [J ] . 水下无人系统学报 , 2024 , 32 ( 4 ): 659 - 667 .

ZHANG X , LI W P . Progress and prospect of underwater information acquisition technique for trans-medium vehicles during water exit [J ] . Journal of Unmanned Undersea Systems , 2024 , 32 ( 4 ): 659 - 667 . (in Chinese)

孙大军 , 侯开阳 , 滕婷婷 , 等 . 空时多普勒频移域运动小目标的抗干扰探测方法 [J ] . 声学学报 , 2022 , 47 ( 2 ): 161 - 174 .

SUN D J , HOU K Y , TENG T T , et al. Small moving target interference suppression detection method in space-time Doppler frequency shift domain [J ] . Acta Acustica , 2022 , 47 ( 2 ): 161 - 174 . (in Chinese)

刘方 , 侯超强 , 翟涛涛 , 等 . 运动声源多普勒畸变信号自适应校正方法 [J ] . 声学学报 , 2022 , 47 ( 6 ): 820 - 831 .

LIU F , HOU C Q , ZHAI T T , et al. An adaptive correction mehtod for Doppler distorted signal of moving sound source [J ] . Acta Acustica , 2022 , 47 ( 6 ): 820 - 831 . (in Chinese)

孙思博 , 明瑞和 , 杨卓 , 等 . 针对周期偏移声信标的二阶高精度水声定位模型 [J ] . 声学学报 , 2023 , 48 ( 1 ): 41 - 49 .

SUN S B , MING R H , YANG Z , et al. The second order model for underwater acoustic location of periodic sources [J ] . Acta Acustica , 2023 , 48 ( 1 ): 41 - 49 . (in Chinese)

徐文 , 鄢社锋 , 季飞 , 等 . 海洋信息获取、传输、处理及融合前沿研究评述 [J ] . 中国科学: 信息科学 , 2016 , 46 ( 8 ): 1053 - 1085 .

XU W , YAN S F , JI F , et al. Marine information gathering, transmission, processing, and fusion: current status and future trends [J ] . Scientia Sinica(Informationis) , 2016 , 46 ( 8 ): 1053 - 1085 . (in Chinese)

HUANG J , YAN S G . An improvement of long baseline system using particle swarm optimization to optimize effective sound speed [J ] . Marine Geodesy , 2018 , 41 ( 5 ): 439 - 456 .

张旭 , 孙翱 , 韩旭 , 等 . 水下垂向运动目标的海底多基站声定位方法及精度分析 [J ] . 声学学报 , 2019 , 44 ( 2 ): 155 - 169 .

ZHANG X , SUN A , HAN X , et al. Acoustic localization scheme and accuracy analysis for underwater vertical motion target using multi-stations in the seabed [J ] . Acta Acustica , 2019 , 44 ( 2 ): 155 - 169 . (in Chinese)

ZHANG J C , HAN Y F , ZHENG C E , et al. Underwater target localization using long baseline positioning system [J ] . Applied Acoustics , 2016 , 111 : 129 - 134 .

QI K , QU G Q , XUE S Q , et al. Analytical optimization on GNSS buoy array for underwater positioning [J ] . Acta Oceanologica Sinica , 2019 , 38 ( 7 ): 137 - 143 .

JIA T Y , SHEN X H , WANG H Y . Multistatic sonar localization with a transmitter [J ] . IEEE Access , 2019 , 7 : 111192 - 111203 . DOI: 10.1109/ACCESS.2019.2934737 http://doi.org/10.1109/ACCESS.2019.2934737 This paper focuses on the problem of multistatic sonar localization with a transmitter where the known signal transmission speed, the transmitter and receiver positions are all contaminated by Gaussian noise. The Cramer-Rao lower bound (CRLB) are derived for the object position and the localization parameters. The analysis in CRLB shows that the localization parameters have a chance to be updated to more accurate ones. Two solutions are then proposed to estimate the object position using the time measurements and angle measurements. One is a two-step closed-form solution based on weighting least squares and the other is a generalized trust region subproblem (GTRS) solution using Newton's method. A recursive MLE is also proposed to update the localization parameters and a more accurate propagation speed can be obtained from the proposed MLE especially when the propagation speed noise is large. Simulations show that the two localization solutions and the propagation speed updated from the proposed MLE can reach their CRLBs.

孙大军 , 郑翠娥 , 张居成 , 等 . 水声定位导航技术的发展与展望 [J ] . 中国科学院院刊 , 2019 , 34 ( 3 ): 331 - 338 .

SUN D J , ZHENG C E , ZHANG J C , et al. Development and prospect for underwater acoustic positioning and navigation technology [J ] . Bulletin of Chinese Academy of Sciences , 2019 , 34 ( 3 ): 331 - 338 . (in Chinese)

YAN W S , CHEN W , CUI R X . Moving long baseline positioning algorithm with uncertain sound speed [J ] . Journal of Mechanical Science and Technology , 2015 , 29 ( 9 ): 3995 - 4002 .

LIU Y X , LU X S , XUE S Q , et al. A new underwater positioning model based on average sound speed [J ] . Journal of Navigation , 2021 , 74 ( 5 ): 1009 - 1025 .

贾天一 , 高婧洁 , 申晓红 , 等 . 声速不确定条件下的运动水下航行器自定位 [J ] . 系统工程与电子技术 , 2022 , 44 ( 9 ): 2699 - 2706 . DOI: 10.12305/j.issn.1001-506X.2022.09.01 http://doi.org/10.12305/j.issn.1001-506X.2022.09.01 传统利用水下声学定位系统的航行器自定位存在两方面问题, 一方面没有考虑测量周期内航行器的运动, 另一方面没有考虑水声声速的不确定。为解决上述问题, 构建了航行器运动状态下的时间测量定位模型, 并对声速不确定性进行建模。分别推导了基于加权最小二乘的运动航行器定位方法和基于最大似然估计的声速更新方法。利用所提模型和时间测量, 不仅可以估计航行器位置, 还可以更新声速。仿真结果验证了本文所提方法在各种参数设置下均优于现有方法, 并且在时间测量噪声不大时可以达到克拉美罗下界(Cramer-Rao lower bound, CRLB), 在时间误差不大时, 声速更新结果显著提高。

JIA T Y , GAO J J , SHEN X H , et al. Moving underwater vehicle localization with uncertain sound speed [J ] . Systems Engineering and Electronics , 2022 , 44 ( 9 ): 2699 - 2706 . (in Chinese) DOI: 10.12305/j.issn.1001-506X.2022.09.01 http://doi.org/10.12305/j.issn.1001-506X.2022.09.01 The traditional localization of vehicle using an underwater acoustic positioning system has two problems. One is the motion of the vehicle during observation period is ignored, and the other is that the uncertainty of underwater sound speed is not taken into account. A time measurement model for localization is constructed for the vehicle in motion, and the uncertainty of sound velocity is modeled to solve the above problems. A localization method for the moving vehicle is derived based on weighted least squares estimator, and a sound speed update method based on maximum likelihood estimator is proposed as well. Apart from estimating the vehicle position, the proposed model and the time mesurement are able to update the sound speed. The simulation results verify that the proposed methods outperform the existing methods for various parameter settings and achieve Cramer-Rao lower bound (CRLB) when the time measurement noise is not large. Moreover, the performance of the sound speed update is significantly improved when the time error is not large.

马顺南 , 路宇 , 王炯琦 , 等 . 基于组合圆锥构型的水下声定学定位系统布站优化 [J ] . 弹道学报 , 2024 , 36 ( 2 ): 10 - 20 .

MA S N , LU Y , WANG J Q , et al. Station layout optimization for underwater acoustic positioning system based on combined-cone configuration [J ] . Journal of Ballistics , 2024 , 36 ( 2 ): 10 - 20 . (in Chinese)

JIA T Y , HO K C , WANG H Y et al. Effect of sensor motion on time delay and Doppler shift localization: analysis and solution [J ] . IEEE Transactions on Signal Processing , 2019 , 67 ( 22 ): 5881 - 5895 .

孙旭 , 李然威 , 周利生 , 等 . 利用组合双曲调频信号的目标径向速度测量与测距去偏 [J ] . 声学学报 , 2024 , 49 ( 5 ): 979 - 989 .

SUN X , LI R W , ZHOU L S , et al. Radial velocity and range bias estimation using composite hyperbolic frequency-modulated signals [J ] . Acta Acustica , 2024 , 49 ( 5 ): 979 - 989 . (in Chinese)

GONG Z J , LI C , JIANG F . AUV-aided joint localization and time synchronization for underwater acoustic sensor networks [J ] . IEEE Signal Processing Letters , 2018 , 25 ( 4 ): 477 - 481 .

ZHANG J C , SHI C H , SUN D J , et al. High-precision, limited-beacon-aided AUV localization algorithm [J ] . Ocean Engineering , 2018 , 149 : 106 - 112 .

杨元喜 , 刘焱雄 , 孙大军 , 等 . 海底大地基准网建设及其关键技术 [J ] . 中国科学: 地球科学 , 2020 , 50 ( 7 ): 1 - 10 .

YANG Y X , LIU Y X , SUN D J , et al. Seafloor geodetic network establishment and key technologies [J ] . Scientia Sinica (Terrae) , 2020 , 50 ( 7 ): 1 - 10 . (in Chinese)

孙大军 , 欧阳雨洁 , 韩云峰 , 等 . 海底大地秩亏基准网快速标校方法 [J ] . 声学学报 , 2023 , 48 ( 3 ): 506 - 514 .

SUN D J , OUYANG Y J , HAN Y F , et al. Rapid calibration method for rank defect submarine geodetic station network [J ] . Acta Acustica , 2023 , 48 ( 3 ): 506 - 514 . (in Chinese)

冯旭东 , 邢尧 , 王炯琦 , 等 . 基于最优模型选择的多信标长基线定位系统误差辨识方法 [J ] . 弹道学报 , 2024 , 36 ( 1 ): 85 - 96 .

FENG X D , XING Y , WANG J Q , et al. Systematic error identification method of multi-beacon long baseline positioning based on optimal model selection [J ] . Journal of Ballistics , 2024 , 36 ( 1 ): 85 - 96 . (in Chinese)

张瑜 , 吴凯 , 郭杰 , 等 . 基于数据质量评估的自适应序贯航迹关联算法 [J ] . 系统工程与电子技术 , 2022 , 44 ( 11 ): 3477 - 3485 . DOI: 10.12305/j.issn.1001-506X.2022.11.23 http://doi.org/10.12305/j.issn.1001-506X.2022.11.23 针对传感器精度下降时的航迹关联问题, 提出了一种基于数据质量评估的自适应序贯航迹关联算法。将实时数据质量评估结果引入关联门限的调整, 结合熵值法和效用函数法对传感器性能和局部滤波质量两项指标分别进行评估, 构建了两项指标与算法显著性水平之间的模糊关系, 实现关联门限的自适应调整。仿真表明, 在局部传感器精度下降的场景下, 改进算法的关联性能优于对比算法, 且良好的关联效果有益于融合精度的提升, 在目标机动的情况下也具有良好的适应性。

ZHANG Y , WU K , GUO J , et al. Adaptive sequential track-association algorithm based on data quality assessment [J ] . Systems Engineering and Electronics , 2022 , 44 ( 11 ): 3477 - 3485 . (in Chinese) DOI: 10.12305/j.issn.1001-506X.2022.11.23 http://doi.org/10.12305/j.issn.1001-506X.2022.11.23 In order to solve the track-association problem when sensor suffers declined accuracy, an adaptive sequential track-association algorithm based on data quality assessment is proposed. Real-time data quality evaluation results are introduced into the adjustment of correlation threshold. The entropy method and the utility function method are combined to evaluate the performance of sensor and the quality of filtering, and the fuzzy control relationship between two indexes and the significance level is constructed, so as to realize the adaptive adjustment of correlation threshold. The simulation results show that the performance of the improved algorithm is better than that of compared algorithm in the situation of declined sensor accuracy, and the good correlation effect is beneficial to the improvement of fusion accuracy.It also has good adaptability in the case of maneuver target tracking.

CUI Y Q , LIU Y , TANG T T , et al. A new adaptive track correlation method for multiple scenarios [J ] . IET Radar, Sonar & Navigation , 2021 , 15 ( 9 ): 1112 - 1124 .