水下无人机光学隐蔽深度模型建立与分析

Establishment and Analysis of Model of Optical Concealment Depth for Underwater Unmanned Aerial Vehicle

基于海水中对比度传输方程,在垂向把海水划分为多个光学性质相似的均匀层,建立了密度分层海水条件下无人机光学隐蔽深度模型。计算并分析了UUV表面反射率、海水漫射衰减系数、大气消光系数、观测高度、观测天顶角对光学隐蔽深度模型输出结果的影响。使用缩比模型和光学隐蔽深度测量系统在近岸完成模型的验证和效果分析。测量得到模型的平均均方根误差0.52 m,平均绝对误差0.48 m,平均相对误差为19.86%,模型的建立为水下无人机光学隐蔽深度相关探测与反探测及其他军事应用提供重要技术支撑。

Based on the contrast transfer equation in seawater,the seawater was divided into several homogeneous layers with similar optical properties in the vertical direction,and the optical concealment depth model of underwater UUV under the condition of dense stratified seawater was established.The effects of UUV surface reflectance,sea water diffuse attenuation coefficient,atmospheric extinction coefficient,observation height and zenith angle on optical concealment depth model were calculated and analyzed.The scale model and optical concealment depth measurement system were used to verify the model and analyze the effect.The average root mean square error(RMSE)of the model is 0.52 m,the average absolute error is 0.48 m and the average relative error is 19.86%.The establishment of the model provides important technical support for underwater UUV optical concealment depth correlation detection and anti-detection and other military applications.