水下运载器安全态势场演化机理分析及复杂环境建模方法研究

The ocean is the survival and working environment of underwater vehicle. Whatever the purpose of any type of underwater vehicles, fully aware of the marine environment is one of the prerequisites for hign-precision navigation and positioning, self-collision avoidance, cooperative control and mission planning. The traditional security threats, environmental modeling and estimation of the conceptual framework will be broken in the subject, which adopt transferable believe model, ontology, and multi-scale systems theory to solve the complex problem. It's proposed that how to take the marine environmental data resources as a priori knowledge, and with real-time sensor observation information for the organic integration of the system, then carry out the safety situation domain evolving mechanism analysis and reliability assessment methods, multi-source, multi-scale marine data associated with the complete knowledge representation and complex multi-scale dynamic modeling of the marine environment and other basic science studies. Finally, a embedded test platform of the security situational awareness systems and complex envioroment modelling system for underwater vehicle will be built with above research achievements, which not only can enhance the underwater vehicle for understanding the complexity of the marine environment and the cognitive level, improve their own ability of safe navigation and self-collision avoidance, but also provides a theoretical support for carrying out more co-regulation and safety guidance, collision risk predicting and assessment studies of underwater vehicles in the future.

海洋是水下运载器赖以生存和工作的环境。无论是何种用途的水下运载器，对海洋的充分感知和理解是其进行精确导航、自主避碰、协同调控和任务规划的重要保障条件。本课题突破传统水下运载器安全威胁估计和环境建模的思想框架，采用信度理论、本体论以及多尺度系统理论，提出将基础海洋数据资源作为环境建模的先验知识，并与实时传感器观测信息进行有机融合，系统地开展动态海域安全态势场演化机理分析及可信度评估方法、多源、多粒度海洋数据的关联表征与完备认知以及复杂海洋环境多尺度动态建模方法等基础科学问题研究，并以此为基础，构建嵌入式水下运载器安全态势感知及环境生成系统测试平台。其研究成果不仅可以增强水下运载器对复杂海洋环境的理解和认知水平，提高其安全航行和自主避险的能力，而且为今后开展多水下运载器的协同调控与安全引导、碰撞风险分级预测评估等问题研究提供了理论支撑。

本项目研究目标是为提高载体态势感知能力寻求一种科学合理、客观可行的解决途径。针对复杂海洋环境要素快速认知问题，提出了一种多尺度动态建模方法，揭示复杂海洋环境要素特征的相关性，建立多源、多粒度数据的关联表征模型。针对水下运载器安全态势场的生成演化机理问题，剖析了动态异质环境要素对水下运载器的威胁特征和影响规律，找到动态安全态势的跨尺度时空映射关系，提出并建立安全态势场可信度估计方法。项目研究除取得了实质性理论进展，同时完成了水下运载器安全态势感知及环境生成系统设计，可以部分验证水下运载器在任务执行过程中态势感知及自主避险能力，这为今后开展多水下运载器的协同调控与安全引导、碰撞风险分级预测评估等问题研究提供了理论支撑。