Research on Cooperative Situational Awareness of Unmanned Surface Vehicle Swarm Based on Multi-radar Joint Detection

The cooperative awareness of unmanned surface vehicle (USV) swarm can detect as many situations on the sea surface as possible. Based on a radar model, this paper analyzes the application of multi-radar joint detection in cooperative awareness of USV swarm. First, a single radar detection model with a correction factor M is introduced. Then, a multi-radar detection model is derived based on the single-radar detection model. Third, the multi-radar detection system is introduced into the USV swarm, and the common formations of USV swarm such as single-horizontal formation, herringbone formation, and semicircle formation are used for cooperative awareness applications. Finally, the maximum detection area of the USV swarm based on the multi-radar detection system is obtained, and the relationship between the number of USVs and the maximum detection area is obtained. Through the analysis results, the distance of USVs when the maximum detection area is the target, and the relationship between the number of USVs and the maximum detection area are obtained.