Cooperative Square-Search Probability for Underwater-Targets Using Dipping-Sonar-Equipped USV Clusters

This study investigates the probability of underwater-target detection using dipping sonar-equipped unmanned surface vehicle (USV) clusters employing a square search strategy. A square-search strategy model for USV clusters was first developed, and simulation experiments evaluated four characteristic underwater-target evasion profiles: (1) constant-speed linear motion, (2) constant-speed course-changing maneuvers, (3) variable-speed linear motion, and (4) variable-speed course-changing maneuvers. The results demonstrate that the underwater-target detection capability of a USV cluster utilizing dipping sonar in a square search pattern significantly surpasses that of a single USV. These findings provide valuable references for the operational deployment of dipping sonar-equipped USVs in anti-submarine warfare (ASW).