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摘要:
海上搜索、航空反潜等海上活动经常需要对目标海域进行全面搜索，在研究扩展方形搜索方法的缺点后，提出采用基于蜂窝结构的扩展六边形搜索方法。从理论上分析2种方法的搜索效率、探测次数、所需航程和重复搜索面积等内容；证明了当目标搜索区域半径大于某值时，所提方法明显优于扩展方形搜索方法，并给出了该值的计算方法。通过仿真验证了理论分析的正确性，为海上搜索任务提供了更为高效的搜寻方法，同时为无人化自动搜索提供理论基础和参考依据。
Abstract:Maritime search, aviation anti-submarine, and other maritime activities often need to comprehensively search the target sea area. After studying the shortcomings of the expanding square search method, an expanding hexagon search method based on the cellular structure is proposed. A theoretical analysis of the two approaches’ search effectiveness, detection times, needed range, and repeated search area is done. It is proved that when the radius of the target search area is greater than a certain value, the expanding hexagon search method is obviously better than the expanding square, and the calculation method of the value is given. The correctness of the theoretical analysis is verified by simulation.This results in a more effective search strategy for marine search jobs as well as a theoretical foundation and reference point for future unmanned automatic search.
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图 9 ${\varDelta }_{\Delta t}$的取值范围
Figure 9. Range of values of $ {\varDelta }_{\Delta t} $
图 10 ${t}_{m}、{t}_{s}、{t}_{{\textit{z}}}$对$ \Delta t $影响
Figure 10. Effect of ${t}_{m}、{t}_{s}、{t}_{{\textit{z}}}$ on $ \Delta t $
表 1 本文方法主要参数规律
Table 1. Main parameters of proposed method
层数l 探测次数m 航程s 转弯次数z 1 1 $ {s}_{0} $ 0 2 7 $ {s}_{0}+6\sqrt{3}r $ 5 3 19 $ {s}_{0}+18\sqrt{3}r $ 11 $\vdots$ $\vdots$ $\vdots$ $\vdots$ $ {n}_{6} $ $ 3{{n}_{6}}^{2}-3{n}_{6}+1 $ $ {s}_{0}+3\sqrt{3}({{n}_{6}}^{2}-{n}_{6})r $ $ 6\left({n}_{6}-1\right)-1 $ 
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表 2 扩展方形搜索方法主要参数规律
Table 2. Extended square search method main parameter law
层数l 探测次数m 航程s 转弯次数z 1 1 $ {s}_{0} $ 0 2 4 $ {s}_{0}+3\sqrt{2}r $ 2 3 9 $ {s}_{0}+8\sqrt{2}r $ 4 $\vdots$ $\vdots$ $\vdots$ $\vdots$ $ {n}_{4} $ $ {{n}_{4}}^{2} $ $ {s}_{0}+\sqrt{2}({{n}_{4}}^{2}-1)r $ $ 2\left({n}_{4}-1\right) $
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表 3 动态目标搜索效能对比
Table 3. Dynamic target search performance comparison
方法 平均探测次数/次 平均探测时间/h 平均航程/km 本文方法 14.74 2.77 88.15 扩展方形搜索方法 18.70 3.44 92.70
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表 4 静态目标搜索效能对比
Table 4. Static target search performance comparison
方法 平均探测次数/次 平均搜索时间/h 平均航程/km 本文方法 9.73 6.14 42.02 扩展方形搜索方法 11.53 6.99 41.36
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