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% MODEL A
% Convoying Against Piracy
% Vermeulen & Van de Ven
% Strategie 2: "DRAAIEN, TENZIJ ..."
%
1. draaien (indien nodig; maximaal);
% (versie 3)
2. versnellen tot 15,1 kts (mits afstand > .25);
% (3-4-2013)
3. draaien (indien nodig; maximaal);
%
4. versnellen tot 18 kts (mits afstand > .25);
%
5. draaien (indien nodig; maximaal) gedurende >= 60 sec
%
(overgang van diesel naar gas);
%
6. versnellen tot 21,5 kts (mits afstand > .25);
%
7. draaien (indien nodig; maximaal);
%
8. versnellen tot 26 kts (mits afstand > .25);
%
9. draaien (indien nodig; maximaal).
clear all
close all
clc
vc = 15;
% vaart van het konvooi
xc = 1;
% horizontale afstand fregat en konvooi
yc = -2;
posMVlogy(1)=yc;
% verticale afstand fregat en konvooi
poslogx(1)=0;poslogy(1)=-2; speedlog(1)=15;posMVlogx(1)=1;
t = 0; T=0;
%
startmoment
td = 0;
%
overgangsmoment van diesel naar gas
k0 = .5*pi; k1 = .5*pi;
% koers van het fregat
vf0 = vc; vf1 = vc;
% vaart van het fregat
xf = 0; yf = 0;
% startpositie van het fregat
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5))
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5))
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
while abs(delta) > (vf1/20 + .7)*pi/360
if delta >= 0
ML
k0 = k1;
k1 = k1 - (vf1/20 + .7)*pi/360;
% snelheidsafhankelijke
koerscorrectie
else
k0 = k1;
k1 = k1 + (vf1/20 + .7)*pi/360; % snelheidsafhankelijke
koerscorrectie
end
if k1 > pi
k1 = k1 - 2*pi;
else
if k1 < -pi
k1 = k1 + 2*pi;
else
k1 = k1;
end
end
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 <= 9.99) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + 43/350; % versnellen van 1.4 naar 10 kts ad .2457 per sec
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
MM
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 9.99) && (vf1 <= 12.49) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + 1/12;
% versnellen van 10 naar 12.5 kts ad .1667 per sec
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
MN
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 12.49) && (vf1 <= 15.09) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + .065; % versnellen van 12.5 naar 15.1 kts ad .13 per sec
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while abs(delta) > (vf1/20 + .7)*pi/360
if delta >= 0
k0 = k1;
k1 = k1 - (vf1/20 + .7)*pi/360;
% snelheidsafhankelijke
koerscorrectie
else
k0 = k1;
k1 = k1 + (vf1/20 + .7)*pi/360; % snelheidsafhankelijke
koerscorrectie
end
if k1 > pi
k1 = k1 - 2*pi;
else
if k1 < -pi
MO
k1 = k1 + 2*pi;
else
k1 = k1;
end
end
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 15.09) && (vf1 <= 17.09) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + 0.05; % versnellen van 15.1 naar 17.1 kts ad .1 per sec
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
MP
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 17.09) && (vf1 <= 17.99) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + 0.025; % versnellen van 17.1 naar 18 kts ad .05 per sec
td = t;
% moment waarop 18 kts bereikt wordt
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 17.99) && (vf1 <= 18.0275) && (((xf-xc)^2+(yf-yc)^2)^.5 > .05)
NG
if (delta >= 0) && (abs(delta) > (vf1/20 + .7)*pi/360)
k0 = k1;
k1 = k1 - (vf1/20 + .7)*pi/360;
% snelheidsafhankelijke
koerscorrectie
else
if (delta < 0) && (abs(delta) > (vf1/20 + .7)*pi/360)
k0 = k1;
k1 = k1 + (vf1/20 + .7)*pi/360; % snelheidsafhankelijke
koerscorrectie
else
ko = k1;
k1 = alpha;
end
end
if k1 > pi
k1 = k1 - 2*pi;
else
if k1 < -pi
k1 = k1 + 2*pi;
else
k1 = k1;
end
end
if (t >= td + 60) && (abs(delta) <= (vf1/20 + .7)*pi/360)
vf1 = vf1 + 7/104; % na 60 sec overgang van diesel naar gas
else
vf1 = vf1;
end
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
NH
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 18.0275) && (vf1 <= 21.49) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + 7/104; % versnellen van 18 naar 25 kts ad .1346 per sec
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while abs(delta) > (vf1/20 + .7)*pi/360
if delta >= 0
k0 = k1;
k1 = k1 - (vf1/20 + .7)*pi/360;
% snelheidsafhankelijke
koerscorrectie
else
k0 = k1;
k1 = k1 + (vf1/20 + .7)*pi/360; % snelheidsafhankelijke
koerscorrectie
end
if k1 > pi
k1 = k1 - 2*pi;
else
if k1 < -pi
k1 = k1 + 2*pi;
else
k1 = k1;
end
end
NI
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
% interceptkoers
% interceptkoers
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 21.49) && (vf1 <= 24.99) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + 7/104; % versnellen van 18 naar 25 kts ad .1346 per sec
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
NJ
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while (vf1 > 24.99) && (vf1 <= 25.99) && (((xf-xc)^2+(yf-yc)^2)^.5 > .25)
vf0 = vf1;
vf1 = vf1 + .025; % versnellen van 25 naar 26 kts ad .05 per sec
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
while ((vf1 > 25.99) || (((xf-xc)^2+(yf-yc)^2)^.5 <= .25)) && (((xfxc)^2+(yf-yc)^2)^.5 > .05)
if (delta >= 0) && (abs(delta) > (vf1/20 + .7)*pi/360)
k0 = k1;
k1 = k1 - (vf1/20 + .7)*pi/360;
% snelheidsafhankelijke
koerscorrectie
NK
else
if (delta < 0) && (abs(delta) > (vf1/20 + .7)*pi/360)
k0 = k1;
k1 = k1 + (vf1/20 + .7)*pi/360; % snelheidsafhankelijke
koerscorrectie
else
ko = k1;
k1 = alpha;
end
end
if k1 > pi
k1 = k1 - 2*pi;
else
if k1 < -pi
k1 = k1 + 2*pi;
else
k1 = k1;
end
end
xf = xf + (.5*(vf0+vf1)/7200)*cos(.5*(k0+k1));
yf = yf + (.5*(vf0+vf1)/7200)*sin(.5*(k0+k1));
yc = yc + vc/7200;
c1 = vf1*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf1^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
else
alpha = phi + acos( vc/((c1^2+vf1^2)^.5));
% interceptkoers
end
if alpha > pi
alpha = alpha - 2*pi;
else
if alpha < -pi
alpha = alpha + 2*pi;
else
alpha = alpha;
end
end
delta = k1 - alpha;
if delta > pi
delta = delta - 2*pi;
else
if delta < -pi
delta = delta + 2*pi;
else
delta = delta;
end
end
t = t + .5;
T = T + 1;
poslogx(T+1)=xf;
poslogy(T+1)=yf;
speedlog(T+1)=[vf1];
posMVlogx(T+1)=xc;
posMVlogy(T+1)=yc;
end
disp(['interceptietijd: ', num2str(t/60),' minuten' ]);
%Figures
time = 0:0.5:t;
figure(1)
subplot(1,2,1)
NL
hold on
grid on
plot(poslogx,poslogy,'b')
plot(posMVlogx,posMVlogy,'y')
axis([0 1.5 0 2])
title('Interception of MV in relative starting position (1,-2)')
legend('path of warship','path of MV')
xlabel('[NMi]');ylabel('[NMi]');
hold off
subplot(1,2,2)
plot(time,speedlog)
title('Warship’s acceleration curve')
axis([0 t 11 27])
xlabel('time [sec]');ylabel('speed [kts]')
grid on
suptitle('MODEL A')
NM
!!(
-#"$
% Thesis Convoy Against Piracy:
% Model B adepted for optimisation: ConvoyOptimisation.m
% LTZ3 Koen Turnhout
% Function is called from OptimisationFunctionCall.m or one of the three
% convoy formation M-Files
function [interceptiontime] = ConvoyOptimisation(xc,yc,vc)
% % Position variables
xf = 0; yf = 0; %center of the field
% vc = 15;
% xc= 1; yc=-2;
%equals the relative position from the frigate
% Speed variables
vf = vc; %Frigat speed in Knots, equals in the beginning the convoy speed
% Frigate and convoy heading
kf = 90; %degrees orientation: x-as
t = 0; % begin time in seconds
t2 = 0;
if xc<0
%since left and right are the same
xc=-xc;
end
t = 0; % begin time in seconds
if xc<0
%since left and right are the same
xc=-xc;
end
check = 0;
tendofturn = 0;
while sqrt((xc-xf)^2+(yc-yf)^2)>0.01
c1 = vf*(yf - yc)/(xc - xf);
phi = acos( c1/((c1^2+vf^2)^.5));
if (yf-yc)*c1 >= 0
alpha = phi - acos( vc/((c1^2+vf^2)^.5));
% rad
else
alpha = phi + acos( vc/((c1^2+vf^2)^.5));
% rad
end
alpha = alpha*180/pi;
if abs(kf-alpha)<2
kf = alpha;
end
if kf==alpha
%when the heading equals the interception course
t=t+1;
if tendofturn<80
t2 = t;
else
t2 = t-tendofturn+80;
end
if t2<70 && vf>=18.4
vf = 18.4;
NN
end
if t2>0 && t2<=10
vf = vf +0.04;
end
if t2>10 && t2<=50;
vf = vf + 0.075;
end
if t2>50 && t2<=70;
vf = vf+0.0225;
end
if t2>70 && t2<=80
vf = vf+0.06;
end
if t2>80 && vf<=22.4
vf = vf + 0.1475;
end
if vf>22.4 && vf<=24.55
vf = vf + 0.215;
end
if vf>24.55 && vf<=25.845
vf = vf + 0.1295;
end
if vf>25.845 && vf<=26.045
vf = vf + 0.02;
end
if vf>26.045 && vf<26.1
vf = vf + 0.0055;
end
if vf>=26.1
vf=26.1;
end
xf = xf+cosd(kf)*(vf/3600); %nmi
yf = yf+sind(kf)*(vf/3600); %nmi
yc = yc+(vc/3600); %nmi
end
if kf-10>alpha && kf~=alpha
t=t+1;
if t<=30
vf = vf+-.0733; %Knots
end
if t>30 && t<=70
vf = vf;
end
if t<70 && vf>=18.4
vf = 18.4;
end
if t>70 && t<=80
vf = vf + 0.04;
end
if t>80 && vf<26.1
vf = vf+0.125;
end
if vf>=26.1;
vf=26.1;
end
if t <20
kf = kf-0.8; %Beginning of the turn ROT
end
if t >12.8;
NO
kf = kf - (0.199*vf-0.751); %ROT formula with AoR 45deg
end
check = 1;
xf = xf+cosd(kf)*(vf/3600); %nmi
yf = yf+sind(kf)*(vf/3600); %nmi
yc = yc+(vc/3600); %nmi
tendofturn = t;
end
if kf-10<=alpha && kf~=alpha
if check == 0;
t=t+1;
end
if t<=70
vf = vf+0.035; %Knots
end
if t<70 && vf>=18.4
vf = 18.4;
end
if t>70 && t<=100 && vf<26.1
vf= vf+0.1133;
end
if t>100 && t<=120 && vf<26.1
vf = vf + 0.225;
end
if t>120 && vf<26.1
vf = vf + 0.0593;
end
if vf>=26.1;
vf=26.1;
end
check = 0;
kf = kf - (0.081*vf-0.418); %ROT formula with AoR 15deg
xf = xf+cosd(kf)*(vf/3600); %nmi
yf = yf+sind(kf)*(vf/3600); %nmi
yc = yc+(vc/3600); %nmi
tendofturn = t;
end
end
interceptiontime=t/60;
NP
!!(
-#"$$' %# "$ % Two Column Formation
% LTZ3 K.H.Turnhout
configuration = 1;
% Variables
T = [15]; %min
spacing = 1; %nmi
vc = [15];
MVy = [-20:0.01:10];
MVx = [0.5]; %nmi
Convoylength = zeros(length(T),1);
%for k=1:length(T) example of sensitivity analysis
for i=1:length(MVy)
interceptiontime(i)=ConvoyOptimisation(MVx,MVy(i),vc); %See App. III
end
Pos_allowed =
[MVy(interceptiontime<=T);interceptiontime(interceptiontime<=T)];
Convoylength=Pos_allowed(1,end)-Pos_allowed(1,1);
Number_MVs = floor(((Pos_allowed(1,end)-Pos_allowed(1,1))/spacing))+1;
N = (((Number_MVs-1)*spacing)/0.01);
for n = 1:length(Pos_allowed(2,:))-N
d_time(n) = abs(Pos_allowed(2,n)-Pos_allowed(2,(n+N)));
end
best_fit = find(d_time==min(d_time));
C_interval=[Pos_allowed(1,best_fit(1)),Pos_allowed(1,(best_fit(1)+N))];
x = ones([1,Number_MVs]).*MVx;
y = [C_interval(1):spacing:C_interval(end)];
%end
if configuration == 1
Number_MVs
MaxInterval = Pos_allowed(1,end)-Pos_allowed(1,1);
figure(1)
hold on
grid on
axis([-1 1 -10 3])
scatter(0,0,80,'^','filled','k');
scatter(x,y,80,'^','filled','b');
scatter(0,-0.2,80,'s','filled','k')
scatter(x,y-0.2,80,'s','filled','b')
scatter(-1.*x,y,80,'^','filled','b')
scatter(-1.*x,y-0.2,80,'s','filled','b')
title('Schematic display of the found optimum for Configuration 1')
legend('LCF','MV'); xlabel('[NMi]'); ylabel('[NMi]');
hold off
end
OG
!!(
-#"$$' "* $# "$ % Two Horizontal Lines Formation
% LTZ3 K.H.Turnhout
close all
clear all
clc
configuration=2;
T = [15]; %min
spacing = 0.5; %nmi
vc = 15;
MVy = [1];
MVx = [0.25:0.1:10]; %nmi
% Line behind
for k=1:length(vc)
for i=1:length(MVx)
interceptiontimebehind(i)=ConvoyOptimisation(MVx(i),-MVy,vc(k));
end
Pos_allowedbehind =
[MVx(interceptiontimebehind<=T);interceptiontimebehind(interceptiontimebehi
nd<=T)];
MaxIntervalbehind(k) = Pos_allowedbehind(1,end)*2;
Number_MVsbehind(k) = floor(((Pos_allowedbehind(1,end)Pos_allowedbehind(1,1))/spacing))+1;
C_intervalbehind(k,:)=[Pos_allowedbehind(1,1),
Pos_allowedbehind(1,1)+spacing*(Number_MVsbehind(k)-1)];
end
y = ones([1,Number_MVsbehind]).*MVy;
x = [C_intervalbehind(1):spacing:C_intervalbehind(end)];
% Front line
for n = 1:length(vc)
for i=1:length(MVx)
interceptiontimefront(i)=ConvoyOptimisation(MVx(i),MVy,vc(n));
end
Pos_allowedfront =
[MVx(interceptiontimefront<=T);interceptiontimefront(interceptiontimefront<
=T)];
MaxIntervalfront(n) = Pos_allowedfront(1,end)*2;
Number_MVsfront(n) = floor(((Pos_allowedfront(1,end)Pos_allowedfront(1,1))/spacing))+1;
C_intervalfront(n,:)=[Pos_allowedfront(1,1),
Pos_allowedfront(1,1)+spacing*(Number_MVsfront(n)-1)];
end
yvoor = ones([1,Number_MVsfront]).*1;
xvoor = [C_intervalfront(1):spacing:C_intervalfront(end)];
OH
if configuration == 2
figure(1)
hold on
grid on
axis([-8 8 -5 5])
scatter(0,0,80,'^','filled','k');
scatter(x,-y,80,'^','filled','b');
scatter(-x,-y,80,'^','filled','b');
scatter(0,-0.2,80,'s','filled','k')
scatter(x,-y-0.2,80,'s','filled','b')
scatter(-x,-y-0.2,80,'s','filled','b')
scatter(xvoor,yvoor,80,'^','filled','b')
scatter(xvoor,yvoor-0.2,80,'s','filled','b')
scatter(-xvoor,yvoor,80,'^','filled','b')
scatter(-xvoor,yvoor-0.2,80,'s','filled','b')
title('Schematic display of the found optimum for Configuration 2')
legend('LCF','MV'); xlabel('[NMi]'); ylabel('[NMi]');
hold off
end
% figure(1)
% subplot(1,2,1)
% plot([0,MVy(1:90)],[MaxIntervalbehind(1),MaxIntervalbehind])
% grid on
% axis([0 10 0 14]); xlabel('Vertical spacing [NMi]'); ylabel('Convoy
Interval [NMi]'); title('Line of MVs behind the warship')
% subplot(1,2,2)
% plot([0,MVy(1:21)],[MaxIntervalfront(1),MaxIntervalfront])
% grid on
% axis([0 5 0 14]); xlabel('Vertical spacing [NMi]'); ylabel('Convoy
Interval [NMi]'); title('Line of MVs in front of the warship')
OI
!!(
-#"$ "$ % Diamond Formation
% LTZ3 K.H. Turnhout
clear all
close all
clc
configuration = 3; % diamond
T=[15]; vc = 15;
%for z = 1:length(T); Enabeling sensitivty analysis
% Determening boundary MVx
MVx = [0.25:0.01:10]; MVy = 0;
for i = 1:length(MVx)
interceptiontime(i)=ConvoyOptimisation(MVx(i),MVy,vc);
end
allowedMVx = MVx(interceptiontime<=T);
BoundaryMVx = allowedMVx(end)-0.1; step = (BoundaryMVx-0.25)/10;
clear interceptiontime; clear MVx; clear MVy;
MVx = [BoundaryMVx:-step:0.25]; alpha = 0;
maxinterceptiontime = 0;
while maxinterceptiontime<T
for k = 1:length(MVx)
MVy(k)=tand(alpha)*(BoundaryMVx-MVx(k));
interceptiontime(k)=ConvoyOptimisation(MVx(k),MVy(k),vc);
maxinterceptiontime = max(interceptiontime);
end
alpha = alpha + 0.1; % degrees
end
best_alpha = alpha;
maxinterceptiontime2 = 0; beta = 0;
while maxinterceptiontime2<T
for n = 1:length(MVx)
MVy2(n)= -1*(tand(beta)*(BoundaryMVx-MVx(n)));
interceptiontime2(n)=ConvoyOptimisation(MVx(n),MVy2(n),vc);
maxinterceptiontime2 = max(interceptiontime2);
end
beta = beta+0.1;
end
best_beta = beta;
% Calculating the Number of MVs
saf_dist1 = 0.5%/cosd(best_alpha);
saf_lat1 = saf_dist1*cosd(best_alpha);
saf_dist2 = 0.5%/cosd(best_beta);
saf_lat2 = saf_dist2*cosd(best_beta);
side1 = sqrt((MVy(end)^2+(BoundaryMVx-0.25)^2));
NumberMVs_side1 = floor(side1/saf_dist1)+1;
side2 = sqrt((MVy2(end)^2+(BoundaryMVx-0.25)^2));
NumberMVs_side2 = floor(side2/saf_dist2)+1;
% plotting the result
for k = 1:length(MVx)
MVy(k)=tand(best_alpha)*(BoundaryMVx-MVx(k));
MVy2(k)=-1*(tand(best_beta)*(BoundaryMVx-MVx(k)));
end
OJ
% Y(z,:) = MVy;Y2(z,:)=MVy2;
% X(z,:) = MVx;
%end
figure(1)
hold on
plot(MVx,MVy)
plot([-0.25 0.25],[MVy(end) MVy(end)])
plot(-MVx,MVy)
plot(MVx,MVy2)
plot([-0.25 0.25],[MVy2(end) MVy2(end)])
plot(-MVx,MVy2)
%Plotting the result
x1 = 0.25:saf_lat1:saf_lat1*(NumberMVs_side1);
y1 = (BoundaryMVx-x1).*tand(alpha);
x2 = 0.25:saf_lat2:saf_lat2*(NumberMVs_side2);
y2 = -1.*((BoundaryMVx-x2).*tand(beta));
figure(2)
hold on
grid on
axis([-6 6 -10 5])
scatter(0,0,80,'^','filled','k');
scatter(x1,y1,80,'^','filled','b');
scatter(-x1,y1,80,'^','filled','b');
scatter(0,-0.2,80,'s','filled','k')
scatter(x1,y1-0.2,80,'s','filled','b')
scatter(-x1,y1-0.2,80,'s','filled','b')
scatter(x2,y2,80,'^','filled','b')
scatter(x2,y2-0.2,80,'s','filled','b')
scatter(-x2,y2,80,'^','filled','b')
scatter(-x2,y2-0.2,80,'s','filled','b')
title('Schematic display of the found optimum for Configuration 3')
legend('LCF','MV'); xlabel('[NMi]'); ylabel('[NMi]');
hold off
OK
!!(
-! $$$& !" $$ " 4$$
% Second Attack, level of protection
% LTZ3 K.H.Turnhout
% Data found with MANA
clc
clear all
close all
%[number MVs, time in min till intercept, percentage of convoy protected]
Formatie1 =...
[2 158 8.333;
4
163 16.667;
6
168.5
25.000;
8
174 33.333;
10 179.5
41.667;
12 185 50.000;
14 190.5
58.333;
16 196 66.667;
18 202 75.000;
20 207 83.333;
22 212.5
91.667;
24 218 100.000;];
Formatie2=...
[1 165.5
2.632;
3
166 7.895;
4
167 10.526;
6
167.5
15.789;
7
168 18.421;
8
168.5
21.053;
9
169 23.684;
12 170.5
31.579;
14 171 36.842;
15 172 39.474;
16 172.5
42.105;
17 173 44.737;
18 174.5
47.368;
19 175 50.000;
21 177 55.263;
25 178 65.789;
27 178.5
71.053;
29 179 76.316;
31 180 81.579;
32 180.5
84.211;
33 181 86.842;
34 181.5
89.474;
35 182 92.105;
36 184 94.737;
37 185 97.368;
38 185.5
100.000];
Formatie3=...
[1 158.5
1.563;
2
159 3.125;
4
161.5
6.250;
6
164 9.375;
7
166.5
10.938;
8
167 12.500;
OL
10
12
13
14
15
16
18
19
20
21
22
24
25
26
27
28
30
32
34
35
36
37
38
39
40
42
43
44
45
46
47
48
50
52
53
54
55
56
57
59
60
62
64
169 15.625;
171.5
18.750;
174 20.313;
175 21.875;
176 23.438;
176.5
25.000;
178.5
28.125;
181.5
29.688;
182 31.250;
183.5
32.813;
184 34.375;
186.5
37.500;
188.5
39.063;
189.5
40.625;
191.5
42.188;
192 43.750;
194 46.875;
196.5
50.000;
199.5
53.125;
201.5
54.688;
202 56.250;
204 57.813;
204.5
59.375;
207 60.938;
207.5
62.500;
209.5
65.625;
212.5
67.188;
213 68.750;
214 70.313;
214.5
71.875;
215 73.438;
215.5
75.000;
216 78.125;
217 81.250;
218.5
82.813;
219 84.375;
219.5
85.938;
220 87.500;
221 89.063;
222 92.188;
222.5
93.750;
223.5
96.875;
225 100.000];
% subtract 15min as the stated intercept response time
Formatie1(:,2)= Formatie1(:,2)-15;
Formatie2(:,2)= Formatie2(:,2)-15;
Formatie3(:,2)= Formatie3(:,2)-15;
% subtract the intercepttime of the first attack
Formatie1(:,2) = Formatie1(:,2)-14;
Formatie2(:,2) = Formatie2(:,2)-15;
Formatie3(:,2) = Formatie3(:,2)-15;
%plotting the result
figure(1)
stairs([Formatie1(1,2) Formatie1(:,2)' 190],[0 Formatie1(:,3)' 100],'r');
grid on
title('level of protection in case of a second attack for Configuration 1')
xlabel('Time after intercepting first attack [min]');ylabel('% of convoy
guaranteed protected');
axis([100 190 0 101])
figure(2)
stairs([Formatie2(1,2) Formatie2(:,2)' 160],[0 Formatie2(:,3)' 100],'r')
OM
grid on
title('level of protection in case of a second attack for Configuration 2')
xlabel('Time after intercepting first attack [min]');ylabel('% of convoy
guaranteed protected');
axis([100 160 0 101])
figure(3)
stairs([Formatie3(1,3) Formatie3(:,2)' 200],[0 Formatie3(:,3)' 100],'r')
grid on
axis([100 200 0 101])
title('level of protection in case of a second attack for Configuration 3')
xlabel('Time after intercepting first attack [min]');ylabel('% of convoy
guaranteed protected');
ON
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