Research on Underwater Situation Awareness of Unmanned Ship Swarm Based on Multi-sonar Collaborative Detection

The cooperative detection system of multiple unmanned surface vehicles (USVs) equipped with sonar has better detection coverage than the single USV detection system, and has gradually become an important way of underwater target situation awareness. By improving the ability of USVs to detect underwater targets, efficient information processing and decision-making actions can be achieved. The detection ability of each member in the cluster and the distribution of the cluster queue become important factors affecting the detection ability of the USV cluster. According to the active and passive sonar equations and ray model, the influence of complex marine environment on sonar detection performance is analyzed, and the detection ability is improved by changing the working depth of sonar. On this basis, the detection capabilities of USV clusters under different search formations are compared and analyzed to obtain the maximum detection coverage area. The simulation results show that the analysis of the working environment of the sonar plays an important role in improving the search ability of the USV. Furthermore, the optimization of the queue is also conducive to maximizing the search ability of the cluster.