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仿生水下航行器的水声系统在受控环境中避免与低速螺旋桨船只碰撞。

Hydroacoustic System in a Biomimetic Underwater Vehicle to Avoid Collision with Vessels with Low-Speed Propellers in a Controlled Environment.

机构信息

Polish Naval Academy, Smidowicza St, 69, 81-127 Gdynia, Poland.

出版信息

Sensors (Basel). 2020 Feb 11;20(4):968. doi: 10.3390/s20040968.

DOI:10.3390/s20040968
PMID:32054036
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7070422/
Abstract

In this paper, a hydroacoustic system designed for a biomimetic underwater vehicle (BUV) is presented. The Biomimetic Underwater Vehicle No. 2 (BUV2) is a next-generation BUV built within the ambit of SABUVIS, a European Defense Agency project (category B). Our main efforts were devoted to designing the system so that it will avoid collisions with vessels with low-speed propellers, e.g., submarines. Verification measurements were taken in a lake using a propeller-driven pontoon with a spectrum similar to that produced by a submarine propulsion system. Here, we describe the hydroacoustic signal used, with careful consideration of the filter and method of estimation for the bearings of the moving obstacle. Two algorithms for passive obstacle detection were used, and the results are discussed herein.

摘要

本文介绍了一种为仿生水下航行器（BUV）设计的水声系统。仿生水下航行器 2 号（BUV2）是欧洲国防署项目（B 类）SABUVIS 框架内建造的下一代 BUV。我们的主要努力是设计该系统，以避免与低速螺旋桨船舶（例如潜艇）发生碰撞。使用频谱与潜艇推进系统相似的螺旋桨驱动浮桥在湖中进行了验证测量。在这里，我们描述了所使用的水声信号，并仔细考虑了滤波器和移动障碍物方位的估计方法。使用了两种被动障碍物检测算法，并在此讨论了结果。

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