Square Submarine Searching Strategy for Unmanned Surface Vessel Based on Dipping Sonar

Aiming at the problem that the unmanned surface vessel equipped with a dipping sonar searches submarines, the searching probability of the unmanned surface vessel with the square searching strategy is studied. Firstly, it is designed of the square searching strategy model for the unmanned surface vessel. Considering the different situations of the submarine ’ s evasion, such as constant course and speed, changing course with constant speed, changing speed in the same course, and changing course and speed simultaneously, the simulation experiments of searching submarine are carried out. The results show the relationship between the searching probability and the submarines’ evasion, which can provide reference for the unmanned surface vessel equipped with a dipping sonar to search submarines.