CN114692520B - Multi-scene-oriented unmanned ship virtual simulation test platform and test method - Google Patents
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Abstract
The invention discloses a multi-scene-oriented unmanned ship virtual simulation test platform and a multi-scene-oriented unmanned ship virtual simulation test method, wherein the multi-scene-oriented unmanned ship virtual simulation test platform comprises a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module; the testing method comprises the steps of setting sea state grades and testing items; generating a tested ocean test scene and a related scene, and arranging a tested virtual unmanned ship in the scene; the virtual sensor acquires sensing information and inputs the information into a control terminal of the actual unmanned ship; the control terminal analyzes the sensing data to obtain a control instruction, and transmits the control instruction back to the virtual test platform to realize navigation control of the virtual unmanned ship; after the sailing is finished, the sailing data are recorded, and an evaluation result is generated. The unmanned ship autonomous navigation performance test method can effectively improve the unmanned ship autonomous navigation performance test effect, reduce the test time and reduce the test cost.
Description
Technical Field
The invention relates to the technical field of unmanned, in particular to a multi-scene-oriented unmanned ship virtual simulation test platform and a test method.
Background
Unmanned boats on the water surface play an increasing role in commercial, scientific and military applications, and are now widely used in marine patrol, environmental monitoring, underwater mapping and marine research. The autonomous navigational system needs to undergo a great deal of training and verification before the autonomous navigational system is formally deployed and operated to ensure the stability of the product. The real ship test can truly reflect various performances of the unmanned ship, but the manpower and material resources required to be consumed are too high, and the real ship test is generally used as a verification means of the last step of the development process. In order to improve the test efficiency and reduce the test cost, a test means adopting virtual simulation before actual test is a necessary flow in development.
However, unlike other unmanned systems, the marine environment itself is complex and variable, greatly increasing the difficulty of constructing the unmanned ship virtual test field. The existing virtual test field of the unmanned ship mainly has two defects: on the one hand, the existing virtual test field of the unmanned ship generally adopts a test method of land unmanned equipment, only motion is simulated on a two-dimensional plane, and the influence of the marine environment on the unmanned ship is rarely considered, so that the virtual test field is far away from the actual complex sailing situation. From the theory of fluid dynamics, the method of solving the flow field by adopting a numerical method can better reflect actual sea waves to obtain a relatively prepared calculation result, but the calculation amount is too large, and a single test item can require a calculation time of several days, which is contrary to the original purpose of quick low-cost test. On the other hand, the test items are relatively single and simple. The existing test platform only supports performance detection on one aspect of the unmanned ship, and the detection is independent and single and has no integrity. The unmanned ship is used as an autonomous navigation carrier, and needs to be tested from a hardware base to a control algorithm, to image recognition, a path planning algorithm and the like. If the detection is performed by the block, the integrity of the system is ignored. Meanwhile, the test project is too simple, and performance test of the unmanned ship in various scenes cannot be realized.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a multi-scene-oriented unmanned ship virtual simulation test platform and a test method. The invention designs a multi-scene-oriented unmanned ship virtual simulation test platform for solving the problems of the existing unmanned ship performance test, and realizes multi-scene, multi-project and integrated performance test of the unmanned ship in a sea wave environment. The unmanned ship autonomous navigation performance test device can effectively improve the unmanned ship autonomous navigation performance test effect, reduce the test time and reduce the test cost.
The invention adopts the following technical scheme:
the unmanned ship virtual simulation test platform for multiple scenes comprises a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module;
the marine environment simulation module: the method comprises the steps of obtaining a Bretschneider dual-parameter spectrum according to a Gerstner wave describing the wave shape and a practical sea wave measurement result, constructing a wave scene, further finishing the determination of scene characteristics according to sea condition parameters, test environment parameters and illumination parameters, and generating a sea test scene;
the test evaluation module is used for: storing unmanned ship navigation data after each test project is finished, and evaluating the autonomous navigation performance of the unmanned ship according to the evaluation standard of the test project;
the dynamics simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model, and obtains the motion state of the unmanned ship through the models, and simultaneously realizes synchronization with a marine scene;
the autonomous navigation interaction module: the control terminal is used for transmitting the sensor signals obtained by the sensor simulation module to the control terminal of the unmanned aerial vehicle, obtaining control instructions according to the signals, transmitting back to the unmanned aerial vehicle virtual test platform in real time, controlling the virtual unmanned aerial vehicle to move in the generated ocean test scene corresponding to the unmanned aerial vehicle navigation scene, obtaining the movement state of the unmanned aerial vehicle, and evaluating the movement state.
Further, the evaluation standard employs a hierarchical evaluation.
Further, the evaluation of the hierarchical layer is specifically: different testing grades are determined according to different sea conditions, different evaluation items under the same testing grade are divided into different evaluation elements, the evaluation index weight occupied by each evaluation element in the layer is determined by a hierarchical analysis method, a cost function method is adopted, scoring is carried out according to the ratio of testing data to ideal data, and finally, the performance of the unmanned ship in the round of testing is evaluated according to the score.
Further, the plane motion model of the unmanned ship is used for solving and calculating the motions of the unmanned ship in three degrees of freedom in a horizontal plane, and the buoyancy calculation model is used for calculating the motions of the unmanned ship in three degrees of freedom of rolling, pitching and heaving to reflect the motion state of the unmanned ship.
Furthermore, the plane motion model of the unmanned ship is used for solving and calculating motions of the unmanned ship in three degrees of freedom in a horizontal plane, specifically, on the basis of an MMG manipulation motion equation, influences of propeller thrust, wind force, wave force and fluid power of the unmanned ship on the motions of the unmanned ship in the plane are comprehensively considered, the ship bodies of different unmanned ships are realized by modifying coefficients of the MMG manipulation motion equation, and the coefficients of the MMG manipulation motion equation are obtained through numerical simulation.
Further, the buoyancy calculation model calculates the motions of the unmanned ship in three degrees of freedom of rolling, pitching and heaving, reflects the motion state of the unmanned ship, and specifically comprises the following steps:
subdividing the unmanned ship model into a plurality of geometric body sub-parts along the water plane, determining the immersed volume of each part according to the distance from the geometric body midpoint of each sub-part to the wave surface of the sea wave, calculating the buoyancy force born by each part, and causing the lifting and swinging movement of the unmanned ship by the stress action of each part and the gravity center of the unmanned ship.
Further, the sensor simulation module obtains GPS navigation data, cameras, radar data, speed, wind direction, acceleration and angular velocity.
Further, the sea condition parameters comprise an average sea wave direction, an average sea wave height, an average sea wave flow rate, an average sea wave steepness, an average sea wind direction and an average sea wind flow rate;
the illumination parameters include illumination intensity and water mist concentration.
Further, unmanned boats are tested on four projects, specifically static obstacle avoidance, dynamic obstacle avoidance, pose maintenance and path tracking.
A test method of an unmanned ship virtual simulation test platform comprises the following steps:
setting sea state grades and test items;
generating a tested ocean test scene and a related scene, and arranging a tested virtual unmanned ship in the scene;
the virtual sensor acquires sensing information and inputs the information into a control terminal of the actual unmanned ship;
the control terminal analyzes the sensing data to obtain a control instruction, and transmits the control instruction back to the virtual test platform to realize navigation control of the virtual unmanned ship;
after the sailing is finished, the sailing data are recorded, and an evaluation result is generated.
The invention has the beneficial effects that:
the invention realizes the performance test of unmanned ships in sea wave environment, multi-scene, multi-project and integration. The unmanned ship autonomous navigation performance test method can effectively improve the unmanned ship autonomous navigation performance test effect, reduce the test time and reduce the test cost.
Drawings
FIG. 1 is a general frame diagram of the present invention;
FIG. 2 is a flow chart of the marine environment simulation module of the present invention generating a marine test scenario;
FIG. 3 is a schematic illustration of a virtual unmanned boat and virtual marine scenario of the present invention;
FIG. 4 is a schematic flow diagram of a dynamics simulation module of the present invention;
FIG. 5 is a flow chart of the test evaluation module of the present invention;
FIG. 6 is a schematic diagram of a virtual simulation test flow of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Examples
As shown in FIG. 1, the unmanned ship virtual simulation test platform for multiple scenes mainly comprises five components, and specifically comprises a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module.
The marine environment simulation module: the method comprises the steps of obtaining a Bretschneider dual-parameter spectrum according to a Gerstner wave describing the wave shape and a practical sea wave measurement result, constructing a wave scene, further finishing the determination of scene characteristics according to sea condition parameters, test environment parameters and illumination parameters, and generating a sea test scene;
the test evaluation module is used for: storing unmanned ship navigation data after each test project is finished, and evaluating the autonomous navigation performance of the unmanned ship according to the evaluation standard of the test project;
the dynamics simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model, and obtains the motion state of the unmanned ship through the models, and simultaneously realizes synchronization with a marine scene;
the autonomous navigation interaction module: the control terminal is used for transmitting the sensor signals obtained by the sensor simulation module to the control terminal of the unmanned aerial vehicle, obtaining control instructions according to the signals, transmitting back to the unmanned aerial vehicle virtual test platform in real time, controlling the virtual unmanned aerial vehicle to move in the generated ocean test scene corresponding to the unmanned aerial vehicle navigation scene, obtaining the movement state of the unmanned aerial vehicle, and evaluating the movement state.
Referring to fig. 2 and 3, a schematic representation of the generation of a virtual marine test environment for an unmanned ship is shown, along with a virtual unmanned ship and a marine scene graph. The sea state parameter setting comprises six parameter settings, specifically: average direction of sea waves, average wave height of sea waves, average flow rate of sea waves, average steepness of sea waves, average direction of sea wind and average flow rate of sea wind. The illumination parameter setting is used for controlling the visual field condition in the scene, and the performance of the unmanned ship under different visibility is tested, and specifically comprises illumination intensity and water mist concentration. The test environment parameter setting specifically refers to setting corresponding test projects, and comprises testing of the unmanned ship on four projects, specifically static obstacle avoidance, dynamic obstacle avoidance, pose maintenance and path tracking. And completing confirmation of the characteristics of the test scene through sea state parameter setting, test environment setting and illumination parameter testing, and generating a corresponding unmanned ship virtual sea test environment.
Referring to fig. 4, a schematic diagram of a power simulation module of the unmanned ship virtual simulation platform and a computational graph of unmanned ship CFD numerical solution are shown. The power simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model. The ship body coordinate system is taken as a motion coordinate system of the unmanned ship and is represented by a symbol O-xyz. The unmanned boat motion can be decomposed in six directions, namely sloshing, swaying, heave, rolling, pitching and bowing. The motion modeling and calculation under six degrees of freedom are relatively complex, the undetermined coefficients are more, the undetermined coefficients are difficult to synchronize with ocean pictures, and the power calculation of the unmanned ship is required to be simplified correspondingly. The plane motion model of the unmanned aerial vehicle is used for realizing calculation control on the motion of the unmanned aerial vehicle in the plane, and the buoyancy calculation model is used for controlling the heave and shaking motions of the unmanned aerial vehicle. The plane motion model of the unmanned ship comprehensively considers the influence of the propeller thrust, wind power, wave force and fluid power of the unmanned ship on the motion of the unmanned ship in the plane on the basis of the MMG operation motion equation. The coefficients in the formula are modified to adapt to the hulls of different unmanned boats. The coefficients in the formula are obtained by a method of numerical simulation solution and experimental measurement. Firstly, establishing a CFD three-dimensional numerical calculation pool; aiming at wind power, wave drift force and fluid power, selecting several groups of representative working conditions to carry out numerical calculation solution; regression analysis and interpolation calculation are carried out on the numerical calculation result to determine the corresponding coefficient in the mathematical model. Aiming at the propeller thrust of the unmanned ship, a mooring test method is adopted, and relevant coefficients are determined according to test results. The calculation of the buoyancy calculation model comprises the following specific processes: the unmanned ship model is first subdivided into several geometric sub-portions along the water plane. The submerged volumes of the various sections are determined from the distances from the midpoints of the geometry of the various sub-sections to the wave surface, thereby calculating the buoyancy experienced by the various sections. And finally, the stress action of each part and the gravity center of the unmanned ship cause the heaving and shaking movement of the unmanned ship.
Referring to fig. 5, a schematic diagram of a test evaluation module of the unmanned ship virtual simulation platform is shown, and a hierarchical evaluation method is adopted. Firstly, sea state grade matching is carried out according to set parameters of the ocean scene, and sea state grading of four grades from 1 grade to 4 grades is shown in the schematic diagram. Performing test item matching according to the set test items, including: static obstacle avoidance, dynamic obstacle avoidance, trajectory tracking, and gesture maintenance. And then, determining corresponding test elements according to the matched test items. The test elements under the static obstacle avoidance and the dynamic obstacle avoidance comprise: reaction distance, regression distance and obstacle avoidance time of the unmanned ship. The test elements under trajectory tracking include: maximum offset, average offset, tracking time. The test element under attitude maintenance includes: maximum positional deviation, average positional deviation, maximum inclination angle, average inclination angle. Different testing grades are determined according to different sea conditions, and different evaluation items are divided into different evaluation elements according to different evaluation items under the same testing grade. And determining the evaluation index weight occupied by each evaluation element in the layer by using an analytic hierarchy process. And scoring according to the ratio of the test data to the ideal data by adopting a cost function method. Finally, the performance of the unmanned ship in the round of test is evaluated according to the score.
Referring to fig. 6, a schematic diagram of a virtual simulation test flow of an unmanned ship is shown. First, a marine environment is set by a marine environment module and a test item is selected. And then, generating a tested marine environment and a test project related scene, arranging a tested virtual unmanned ship in the scene, and then starting the test. The virtual unmanned ship to be tested is modeled by the actual unmanned ship in equal proportion, and the control circuit and the control logic of the virtual unmanned ship are completely consistent with those of the actual unmanned ship. The sensor simulation module is provided with a basic sensor template, and according to an actual sensor on the unmanned ship to be tested, the work of various sensors on the unmanned ship is simulated by setting a noise function, output information and sensor output power, and sensor information is issued in real time. And the sensor information is sent to a control terminal of the actual unmanned ship in real time through a network serial port. And the control terminal of the unmanned ship completes corresponding data analysis, and then sends the control instruction calculated by the control terminal back to the virtual test platform through the network port again, and acts on the control motor of the virtual unmanned ship to realize navigation control of the virtual unmanned ship. After the sailing is finished, the test evaluation module records the sailing data, generates an evaluation result and finishes the test.
The embodiments described above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (5)
1. The unmanned ship virtual simulation test platform for the multiple scenes is characterized by comprising a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module;
the marine environment simulation module: the method comprises the steps of obtaining a Bretschneider dual-parameter spectrum according to a Gerstner wave describing the wave shape and a practical sea wave measurement result, constructing a wave scene, further finishing the determination of scene characteristics according to sea condition parameters, test environment parameters and illumination parameters, and generating a sea test scene;
the test evaluation module is used for: storing unmanned ship navigation data after each test project is finished, and evaluating the autonomous navigation performance of the unmanned ship according to the evaluation standard of the test project;
the dynamics simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model, and obtains the motion state of the unmanned ship through the models, and simultaneously realizes synchronization with a marine scene;
the autonomous navigation interaction module: the control terminal is used for transmitting the sensor signals obtained by the sensor simulation module to the control terminal of the unmanned aerial vehicle, obtaining control instructions according to the signals, transmitting back to the virtual test platform of the unmanned aerial vehicle in real time, controlling the movement of the virtual unmanned aerial vehicle in the generated ocean test scene corresponding to the navigation scene of the unmanned aerial vehicle, obtaining the movement state of the unmanned aerial vehicle, and evaluating the movement state of the unmanned aerial vehicle;
the evaluation standard adopts hierarchical evaluation;
the hierarchical evaluation is specifically as follows: determining different test grades according to different sea conditions, dividing different evaluation items under the same test grade into different evaluation elements, determining the evaluation index weight occupied by each evaluation element in the layer by a analytic hierarchy process, scoring according to the ratio of test data to ideal data by adopting a cost function process, and finally evaluating the performance of the unmanned ship in the same test grade according to the score;
the unmanned ship plane motion model is used for solving and calculating the motions of the unmanned ship in three degrees of freedom in a horizontal plane, and calculating the motions of the unmanned ship in three degrees of freedom of rolling, pitching and heaving by the buoyancy calculation model to reflect the motion state of the unmanned ship;
the unmanned ship plane motion model is used for solving and calculating motions of unmanned ships in three degrees of freedom in a horizontal plane, specifically, on the basis of an MMG manipulation motion equation, influences of unmanned ship propeller thrust, wind power, wave force and fluid power on the motions of the unmanned ships in the plane are comprehensively considered, the ship hulls of different unmanned ships are realized by modifying coefficients of the MMG manipulation motion equation, and the coefficients of the MMG manipulation motion equation are obtained through numerical simulation;
the buoyancy calculation model calculates the motions of the unmanned ship in three degrees of freedom of rolling, pitching and heaving, reflects the motion state of the unmanned ship, and specifically comprises the following steps:
subdividing the unmanned ship model into a plurality of geometric body sub-parts along the water plane, determining the immersed volume of each part according to the distance from the geometric body midpoint of each sub-part to the wave surface of the sea wave, calculating the buoyancy force born by each part, and causing the lifting and swinging movement of the unmanned ship by the stress action of each part and the gravity center of the unmanned ship.
2. The unmanned aerial vehicle virtual simulation test platform of claim 1, wherein the sensor simulation module obtains GPS navigation data, cameras, radar data, speed, wind direction, acceleration, and angular velocity.
3. The unmanned ship virtual simulation test platform of any of claims 1-2, wherein the sea state parameters comprise average sea direction, average sea height, average sea flow rate, average sea steepness, average sea wind direction, and average sea wind flow rate;
the illumination parameters include illumination intensity and water mist concentration.
4. The unmanned aerial vehicle virtual simulation test platform of claim 1, wherein the unmanned aerial vehicle performs the test on four projects, in particular, static obstacle avoidance, dynamic obstacle avoidance, pose maintenance, and path tracking.
5. The method for testing the unmanned ship virtual simulation test platform according to any one of claims 1 to 4, comprising:
setting sea state grades and test items;
generating a tested ocean test scene and a related scene, and arranging a tested virtual unmanned ship in the scene;
the virtual sensor acquires sensing information and inputs the information into a control terminal of the actual unmanned ship;
the control terminal analyzes the sensing data to obtain a control instruction, and transmits the control instruction back to the virtual test platform to realize navigation control of the virtual unmanned ship;
after the sailing is finished, the sailing data are recorded, and an evaluation result is generated.
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