Modeling and simulation of torpedo acoustic homing trajectory with multiple targets

The characteristics of a torpedo' s acoustic homing trajectory with multiple targets were studied. The differential equations of torpedo motion were presented based on hydrodynamics. The Fourth order Runge-Kutta method was used to solve these equations. Derived from sonar equations and Snell's law, a simple virtual underwater acoustic environment was established for simulating the torpedo homing process. The Newton iteration method was used to calculate homing range and ray tracing was approximated by piecewise line, which takes into consideration distortions cause by temperature, pressure, and salinity in a given sea area. The influence of some acoustic warfare equipment disturb the torpedo homing process in certain circumstances, including decoys and jammers, was alsotaken into account in simulations. Relative target identification logic and homing control laws were presented. Equal consideration during research was given to the requirements of real-timeactivity as well as accuracy. Finally, a practical torpedo homing trajectory simulation program was developed and applied to certain projects.