CN102592025A - Virtual experimental platform of unmanned underwater vehicle mission planning system and experimental method - Google Patents
Virtual experimental platform of unmanned underwater vehicle mission planning system and experimental method Download PDFInfo
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Abstract
Disclosed is a virtual experimental platform of an unmanned underwater vehicle mission planning system and an experimental method. The experimental platform comprises a virtual experimental scene display terminal, a virtual experimental user operating terminal, a desktop type work station, a principle computer control module and an unmanned underwater vehicle simulation module; the desktop type work station comprises a peripheral component interconnect express (PCI Express) high-performance graph acceleration processing card, a PCI Express disk array card, and a plurality of PCI Express data acceleration processing cards; the principle computer control module is integrated and operates in the desktop type work station, and the unmanned underwater simulation system module is integrated and operates in the PCI Express data acceleration processing card in the desktop type work station. The experimental method includes experimental methods of 'full digital virtual experiment' and 'half material virtual experiment' on the basis of the virtual experimental platform. The virtual experimental platform of the unmanned underwater vehicle mission planning system and the experimental method have the advantages of simple structure, simple and convenient operation, high function integration, wide application range, high experimental efficiency, and the like.
Description
Technical field
The present invention is mainly concerned with under water autonomous ROV virtual test apparatus field, refers in particular to the virtual test platform and the test method thereof of a kind of autonomous underwater vehicle mission planning system.
Background technology
" mission planning system " is the core subsystem of autonomous underwater vehicle; Be the intelligent decision mechanism of autonomous underwater vehicle when carrying out underwater operation, determined usefulness and the survival probability under complicated marine environment condition that autonomous underwater vehicle is executed the task to a great extent.In autonomous underwater vehicle underwater navigation process; " mission planning system " is the information processing centre of autonomous underwater vehicle; Need to gather in real time the also status information of all other subsystems outputs of overall treatment autonomous underwater vehicle; Find the solution autonomous underwater vehicle is tackled the situation of meeting in the task implementation optimum solution, and the final decision result who resolves is sent to the topworks of autonomous underwater vehicle.
" virtual test of autonomous underwater vehicle mission planning system " is the important step in the autonomous underwater vehicle development process; As a kind of ancillary test means of real boat test, its fundamental purpose is through ground virtual test, the defective of the system that finds out on software coding; Rationality and the feasibility of verification system in design; The reliability of checking system performance under various abnormal conditions, thereby the mathematical model of further update the system, the design and the realization of sophisticated systems before real boat test.
Operating mechanism according to the mission planning system; At present the ground virtual test of autonomous underwater vehicle mission planning system is main with half actual loading test, need utilize other subsystem of three-axle table, butt joint battle array, driving source, data acquisition equipment, ground test computing machine and autonomous underwater vehicle to make up distributed virtual test environment.Though virtual test result's degree of confidence is very high, it is in large scale, information flow is complicated, organize and coordinate difficulty, impenetrably the comprehensive virtual test of the high efficiency at short notice completion autonomous underwater vehicle mission planning of the virtual test on face system.
Summary of the invention
The technical matters that the present invention will solve just is: to the technical matters that prior art exists, the present invention provide a kind of simple in structure, easy and simple to handle, functional integration is high, the virtual test platform and the test method of applied widely, autonomous underwater vehicle mission planning system that test efficiency is high.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
The virtual test platform of a kind of autonomous underwater vehicle mission planning system comprises virtual test scene display terminal, virtual test user operating terminal, Table top type workstation, upper computer control module and autonomous underwater vehicle simulation system module; The PCI Express data that said Table top type workstation has comprised that the PCI Express high performance graphics that is used to provide fine and smooth clear picture quickens transaction card, the PCI Express disk array card and the polylith that are used for the storage of high-speed high capacity test figure is used to simulate the autonomous underwater vehicle system are quickened transaction card, and said PCI Express data are quickened transaction card based on polycaryon processor and simulated mission planning system and the operational mode of other subsystem and the operating standard between each sub-systems in the autonomous underwater vehicle; Said upper computer control module is integrated and run in the Table top type workstation, and said autonomous underwater vehicle simulation system module PCI Express data integrated and that run in the Table top type workstation are quickened in the transaction card.
Further improvement as the virtual test platform; Upper computer control module has multithreaded architecture, has comprised virtual test platform total activation thread module, virtual test platform user operation-interface thread module, High Level Architecture HLA interface thread module and virtual test what comes into a driver's and has generated the thread module; After the upper computer control module initialization finished, virtual test platform total activation thread module and other thread module were created relatively independent shared memory space respectively, adopted asynchronous communication means to carry out the data interaction of cross-thread; Said virtual test platform total activation thread module is in each work period; The status information that each thread provides in the overall treatment shared memory space is created the services request formation simultaneously and autonomous underwater vehicle simulation system module is carried out data interaction with PCI Express bus protocol.
Further improvement as the virtual test platform; Said autonomous underwater vehicle simulation system module has multiple progress structure, comprises virtual test platform story of a play or opera planning process module, autonomous underwater vehicle mission planning system process module, dynamics kinematics and resolves system process module, autonomous underwater vehicle homing system process module and target simulation system process module; After autonomous underwater vehicle simulation system module loading and initialization finish; Said virtual test platform story of a play or opera planning process module is in each work period; Overall treatment is from the services request formation of upper computer control module; Receive the status information of autonomous underwater vehicle mission planning system process module and provide the virtual test procedure information, through PCI Express bus the virtual test result is sent to upper computer control module simultaneously to target simulation system process module; Said autonomous underwater vehicle mission planning system process module, dynamics kinematics are resolved between system process module and the autonomous underwater vehicle homing system process module with unified virtual test cycle synchronisation operation, by the time and space consistance of autonomous underwater vehicle mission planning system process module controls virtual test process; Said autonomous underwater vehicle homing system process module need read the status information that target simulation system process module provides in each work period.
The present invention further provides a kind of test method when on the basis of above-mentioned virtual test platform, carrying out " digital virtual test ", and its flow process is:
After initialization finished, the mission planning system that loads actual use in the autonomous underwater vehicle quickened in the transaction card and operation to data; After user identity is identified, on virtual test platform operations interface, fill in the configuration information of this virtual test, comprise virtual test report, the story of a play or opera information of virtual test and the configuration parameter of autonomous underwater vehicle mission planning system; All configuration informations of the upper computer control module of virtual test platform check effectively after, configuration information is sent to autonomous underwater vehicle simulation system module through PCI Express bus; Autonomous underwater vehicle simulation system module is organized the virtual test flow process, loads the configuration parameter of autonomous underwater vehicle mission planning system module and is started virtual test according to the configuration information of virtual test; Autonomous underwater vehicle mission planning system process module, dynamics kinematics are resolved between system process module and the autonomous underwater vehicle homing system process module with unified virtual test cycle synchronisation operation, by the consistance of autonomous underwater vehicle mission planning system process module coordination with the control virtual test time and space; The dynamics kinematics is resolved the system process module and is carried out in the process at virtual test; Each work period is resolved the equation of motion group that extensively is suitable for, and the autonomous underwater vehicle status information of resolving is sent to autonomous underwater vehicle mission planning system process module in each virtual test cycle; Target simulation system process module calculates the target status information relative with autonomous underwater vehicle in the virtual test, and sends to autonomous underwater vehicle homing system process module according to the virtual test procedure information that virtual test platform story of a play or opera planning process sends; Autonomous underwater vehicle homing system process module receives the status information from the target simulation system module in each work period; According to the workflow requirement of autonomous underwater vehicle homing system, status informations such as the distance of transmission target, the degree of depth, orientation and velocity are given autonomous underwater vehicle mission planning system process module; Autonomous underwater vehicle homing system process module reads the status information that target simulation system process module provides in its each work period; Virtual test platform story of a play or opera planning process module receives the status information that autonomous underwater vehicle mission planning system process module provides in each work period; And provide the virtual test procedure information, and the virtual test result is sent to the virtual test platform total activation thread module of upper computer control module through PCI Express bus to target simulation system process module; Virtual test platform total activation thread module stores virtual test result shares test findings to the virtual test what comes into a driver's generating the thread module simultaneously; The virtual test what comes into a driver's generates thread module parses virtual test result; Obtain the parameter information of all models and environment special efficacy in virtual test two dimension and the three-dimensional vision; And produce what comes into a driver's generation data, with the motion of autonomous underwater vehicle model and object module in the data-driven what comes into a driver's and the generation of various environment special efficacys; So circulation is until accomplishing virtual test.
Test method when the present invention further provides a kind of and on the basis of above-mentioned virtual test platform, carry out " half virtual test in kind ", its flow process is:
After initialization finished, the mission planning system that loads actual use in the autonomous underwater vehicle quickened in the transaction card and operation to data; After user identity is identified, activate half virtual test function in kind of autonomous underwater vehicle mission planning system through virtual test platform operations interface; High Level Architecture HLA interface thread module, virtual test platform total activation thread module directly are communicated with autonomous underwater vehicle mission planning system process module; The operation of other thread module of barrier and process module is by virtual test platform total activation threads store virtual test result; Carry out in the process at half virtual test in kind, by autonomous underwater vehicle mission planning system process module controls experiment process, the virtual test platform is equivalent to the mission planning simulation system in the autonomous underwater vehicle distributed simulation system fully; The user finishes half virtual test in kind of autonomous underwater vehicle mission planning system through virtual test platform operations interface.
Compared with prior art; The invention has the advantages that: virtual test platform of the present invention and be based on the Table top type computer system based on the test method of this platform and make up; Design is quickened transaction card with having realized the data based on PCI Express bus; And according to the operating mechanism of autonomous underwater vehicle mission planning system, quicken to have set up autonomous underwater vehicle simulation system module on the transaction card in data, make whole virtual test platform can be integrated in the Table top type workstation; Simple in structure, easy and simple to handle, stable and reliable for performance; The present invention has simulated mission planning system and the operational mode of other subsystem and the operating standard between each subsystem in the autonomous underwater vehicle; Enriched the content and method that autonomous underwater vehicle mission planning system is carried out virtual test; Saved the testing equipment of the large amount of complex of being employed when carrying out virtual test on the ground; Test platform also provides HLA distributing emulation system interface simultaneously; Realized and to have carried out small-sized virtual test platform digital and half virtual test in kind to autonomous underwater vehicle mission planning system; Increased the dirigibility and the convenience of test, the content of the test comprehensive and abundant can the ground virtual test task of high efficiency at short notice completion autonomous underwater vehicle mission planning system.
Description of drawings
Fig. 1 is the hardware structure synoptic diagram of autonomous underwater vehicle mission planning system virtualization test platform of the present invention.
Fig. 2 is the software architecture synoptic diagram of autonomous underwater vehicle mission planning system virtualization test platform of the present invention.
Fig. 3 is the present invention carries out digital virtual test in application example a schematic flow sheet.
Fig. 4 is the present invention carries out half virtual test in kind in application example a schematic flow sheet.
Embodiment
Below will combine Figure of description and specific embodiment that the present invention is explained further details.
The virtual test platform of autonomous underwater vehicle mission planning of the present invention system is digital and half dummy experiment system in kind of a kind of autonomous underwater vehicle mission planning system; It comprises virtual test scene display terminal, virtual test user operating terminal, Table top type workstation, upper computer control module and autonomous underwater vehicle simulation system module.Wherein, The Table top type workstation has general Table top type computer system architecture, and it quickens transaction card as the PCI Express data that master system has comprised that the PCI Express high performance graphics that is used to provide fine and smooth clear picture quickens transaction card, the PCI Express disk array card and the polylith that are used for the storage of high-speed high capacity test figure is used to simulate the autonomous underwater vehicle system; These PCI Express data are quickened transaction card based on polycaryon processor, have simulated mission planning system and the operational mode of other subsystem and the operating standard between each sub-systems in the autonomous underwater vehicle.Upper computer control module is integrated and run in the Table top type workstation; Autonomous underwater vehicle simulation system module PCI Express data integrated and that run in the Table top type workstation are quickened in the transaction card; Quicken transaction card through polylith PCI Express data; Can simulate a plurality of autonomous underwater vehicles and unite and carry out the situation of task under water, carry out the digital associating virtual test of a plurality of autonomous underwater vehicle mission planning systems.
In the present embodiment; Upper computer control module has multithreaded architecture, has comprised virtual test platform total activation thread module, virtual test platform user operation-interface thread module, High Level Architecture HLA interface thread module and virtual test what comes into a driver's and has generated the thread module.After the upper computer control module initialization finished, virtual test platform total activation thread module and other thread module were created relatively independent shared memory space respectively, adopted asynchronous communication means to carry out the data interaction of cross-thread; Virtual test platform total activation thread module is in each work period; The status information that each thread provides in the overall treatment shared memory space is created the services request formation simultaneously and autonomous underwater vehicle simulation system module is carried out data interaction with PCI Express bus protocol.
In the present embodiment; Autonomous underwater vehicle simulation system module has multiple progress structure, comprises virtual test platform story of a play or opera planning process module, autonomous underwater vehicle mission planning system process module, dynamics kinematics and resolves system process module, autonomous underwater vehicle homing system process module and target simulation system process module.After autonomous underwater vehicle simulation system module loading and initialization finish; Virtual test platform story of a play or opera planning process module is in each work period; Overall treatment is from the services request formation of upper computer control module; Receive the status information of autonomous underwater vehicle mission planning system process module and provide the virtual test procedure information, through PCI Express bus the virtual test result is sent to upper computer control module simultaneously to target simulation system process module.Autonomous underwater vehicle mission planning system process module, dynamics kinematics are resolved between system process module and the autonomous underwater vehicle homing system process module with unified virtual test cycle synchronisation operation, by the time and space consistance of autonomous underwater vehicle mission planning system process module controls virtual test process; Autonomous underwater vehicle homing system process module need read the status information that target simulation system process module provides in each work period.
Referring to shown in Figure 1, in the present embodiment, virtual test platform of the present invention is integrated in the HP workstation, is furnished with keyboard, mouse, operating rod and a large scale high-clear display that is used for the demonstration of virtual test scene that the user operates usefulness simultaneously; The acceptance of the bid of HP workstation is furnished with 64TB large capacity disc array, two four nuclear AMD processors, 4GB internal memory, two gigabit ethernet interfaces, PCI Express * 16 high performance graphicses quicken transaction card, PCI Express * 8 disk array cards and PCI Express * 4 data and quicken transaction card; It is core with the Tilepro64 polycaryon processor that data are quickened transaction card, is furnished with 4 1GB internal memories and is used to store the SROM of autonomous underwater vehicle simulation system software, and data are quickened to load automatically after transaction card resets and operation autonomous underwater vehicle simulation system module.
Referring to shown in Figure 2; In the present embodiment; Upper computer control module has multithreaded architecture based on the exploitation of Windows operating system, and each cross-thread adopts asynchronous communication means; Carry out the data interaction of cross-thread with the shared drive mode; Virtual test platform total activation thread module is in each work period, and the status information that each thread provides in the overall treatment shared memory space is created the services request formation simultaneously and autonomous underwater vehicle simulation system module is carried out data interaction with PCI Express bus protocol; The virtual test what comes into a driver's generates thread module parses virtual test result, produces what comes into a driver's and generates data, with the motion of autonomous underwater vehicle model and object module in the data-driven what comes into a driver's and the generation of various environment special efficacys.Three-dimensional vision shows the exploitation through Vega Prime, and two-dimentional what comes into a driver's shows the exploitation through TeeChart.Virtual test platform user operation-interface thread module is based on the virtual test platform operations interface thread of MFC exploitation; High Level Architecture HLA interface thread module is unwrapped based on KD-HLA distributed simulation support programs and is sent out; A federal member that makes this virtual test platform can be used as in the HLA distributed simulation system uses, and realizes half virtual test in kind of autonomous underwater vehicle mission planning system.
In the present embodiment; Autonomous underwater vehicle simulation system module is developed based on (SuSE) Linux OS; Have multiple progress structure, the ilib storehouse among the Tilepro64 polycaryon processor development environment MDE provides the support of data transmission channel, shared drive and inter process synchronization between multi-process; Virtual test platform story of a play or opera planning process module is in each work period, overall treatment from the PCI Express bus services request formation of upper computer control module, receive the status information of autonomous underwater vehicle mission planning system process module and provide the virtual test procedure information to target simulation system process module; Autonomous underwater vehicle mission planning system process module, dynamics kinematics are resolved between system process module and the autonomous underwater vehicle homing system process module with unified virtual test periodic duty; Set up data transmission channel based on the mesh network in the Tilepro64 polycaryon processor between process, the synchronous and data interaction between implementation process; Autonomous underwater vehicle homing system process module is in each work period, reads the target status information relative with autonomous underwater vehicle of virtual test in the shared drive of target simulation system process module.
Referring to shown in Figure 3, after the virtual test platform initialization of autonomous underwater vehicle mission planning of the present invention system finishes, load that the actual mission planning system that uses quickens in the transaction card and operation to data in the autonomous underwater vehicle; After user identity is identified, the configuration information of this virtual test be can on virtual test platform operations interface, fill in, virtual test report, the story of a play or opera information of virtual test and the configuration parameter of autonomous underwater vehicle mission planning system comprised; All configuration informations of the upper computer control module of virtual test platform check effectively after, configuration information is sent to autonomous underwater vehicle simulation system module through PCI Express bus; Autonomous underwater vehicle simulation system module is organized the virtual test flow process, loads the configuration parameter of autonomous underwater vehicle mission planning system module and is started virtual test according to the configuration information of virtual test; Autonomous underwater vehicle mission planning system process module, dynamics kinematics are resolved between system process module and the autonomous underwater vehicle homing system process module with unified virtual test cycle synchronisation operation, by the consistance of autonomous underwater vehicle mission planning system process module coordination with the control virtual test time and space; The dynamics kinematics is resolved the system process module and is carried out in the process at virtual test; Each work period is resolved the equation of motion group that extensively is suitable for, and the autonomous underwater vehicle status information of resolving is sent to autonomous underwater vehicle mission planning system process module in each virtual test cycle; Target simulation system process module calculates the target status information relative with autonomous underwater vehicle in the virtual test, and sends to autonomous underwater vehicle homing system process module according to the virtual test procedure information that virtual test platform story of a play or opera planning process sends; Autonomous underwater vehicle homing system process module receives the status information from the target simulation system module in each work period; According to the workflow requirement of autonomous underwater vehicle homing system, status informations such as the distance of transmission target, the degree of depth, orientation and velocity are given autonomous underwater vehicle mission planning system process module; Autonomous underwater vehicle homing system process module reads the status information that target simulation system process module provides in its each work period; Virtual test platform story of a play or opera planning process module receives the status information that autonomous underwater vehicle mission planning system process module provides in each work period; And provide the virtual test procedure information, and the virtual test result is sent to the virtual test platform total activation thread module of upper computer control module through PCI Express bus to target simulation system process module; Virtual test platform total activation thread module stores virtual test result shares test findings to the virtual test what comes into a driver's generating the thread module simultaneously; The virtual test what comes into a driver's generates thread module parses virtual test result; Obtain the parameter information of all models and environment special efficacy in virtual test two dimension and the three-dimensional vision; And produce what comes into a driver's generation data, with the motion of autonomous underwater vehicle model and object module in the data-driven what comes into a driver's and the generation of various environment special efficacys; So circulation is until accomplishing virtual test.
Referring to shown in Figure 4, after the virtual test platform initialization of autonomous underwater vehicle mission planning of the present invention system finishes, load that the actual mission planning system that uses quickens in the transaction card and operation to data in the autonomous underwater vehicle; After user identity is identified, activate half virtual test function in kind of autonomous underwater vehicle mission planning system through virtual test platform operations interface; High Level Architecture HLA interface thread module, virtual test platform total activation thread module directly are communicated with autonomous underwater vehicle mission planning system process module; The operation of other thread module of barrier and process module is by virtual test platform total activation threads store virtual test result; Half virtual test in kind carries out in the process, and by autonomous underwater vehicle mission planning system process module controls experiment process, the virtual test platform is equivalent to the mission planning simulation system in the autonomous underwater vehicle distributed simulation system fully; The user can finish half virtual test in kind of autonomous underwater vehicle mission planning system through virtual test platform operations interface.
In the present embodiment; Adopt the polylith data to quicken transaction card; The mission planning system that can load actual use in a plurality of autonomous underwater vehicles quickens in the transaction card and operation to different data, carries out the digital associating virtual test of a plurality of autonomous underwater vehicle mission planning systems; Test method and experiment process and to carry out the digital virtual test of single autonomous underwater vehicle mission planning system similar; Need to set up the PCI Express bus data transmission channel between card and card; Make and directly not carry out data interaction between different autonomous underwater vehicle systems, communication process in the water between the simulation autonomous underwater vehicle via upper computer control module.
Below only be preferred implementation of the present invention, protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art some improvement and retouching not breaking away under the principle of the invention prerequisite should be regarded as protection scope of the present invention.
Claims (5)
1. the virtual test platform of an autonomous underwater vehicle mission planning system is characterized in that: comprise virtual test scene display terminal, virtual test user operating terminal, Table top type workstation, upper computer control module and autonomous underwater vehicle simulation system module; The PCI Express data that said Table top type workstation has comprised that the PCI Express high performance graphics that is used to provide fine and smooth clear picture quickens transaction card, the PCI Express disk array card and the polylith that are used for the storage of high-speed high capacity test figure is used to simulate the autonomous underwater vehicle system are quickened transaction card, and said PCI Express data are quickened transaction card based on polycaryon processor and simulated mission planning system and the operational mode of other subsystem and the operating standard between each sub-systems in the autonomous underwater vehicle; Said upper computer control module is integrated and run in the Table top type workstation, and said autonomous underwater vehicle simulation system module PCI Express data integrated and that run in the Table top type workstation are quickened in the transaction card.
2. the virtual test platform of autonomous underwater vehicle mission planning according to claim 1 system; It is characterized in that: said upper computer control module has multithreaded architecture, has comprised virtual test platform total activation thread module, virtual test platform user operation-interface thread module, High Level Architecture HLA interface thread module and virtual test what comes into a driver's and has generated the thread module; After the upper computer control module initialization finished, virtual test platform total activation thread module and other thread module were created relatively independent shared memory space respectively, adopted asynchronous communication means to carry out the data interaction of cross-thread; Said virtual test platform total activation thread module is in each work period; The status information that each thread provides in the overall treatment shared memory space is created the services request formation simultaneously and autonomous underwater vehicle simulation system module is carried out data interaction with PCI Express bus protocol.
3. the virtual test platform of autonomous underwater vehicle mission planning according to claim 2 system; It is characterized in that: said autonomous underwater vehicle simulation system module has multiple progress structure, comprises virtual test platform story of a play or opera planning process module, autonomous underwater vehicle mission planning system process module, dynamics kinematics and resolves system process module, autonomous underwater vehicle homing system process module and target simulation system process module; After autonomous underwater vehicle simulation system module loading and initialization finish; Said virtual test platform story of a play or opera planning process module is in each work period; Overall treatment is from the services request formation of upper computer control module; Receive the status information of autonomous underwater vehicle mission planning system process module and provide the virtual test procedure information, through PCI Express bus the virtual test result is sent to upper computer control module simultaneously to target simulation system process module; Said autonomous underwater vehicle mission planning system process module, dynamics kinematics are resolved between system process module and the autonomous underwater vehicle homing system process module with unified virtual test cycle synchronisation operation, by the time and space consistance of autonomous underwater vehicle mission planning system process module controls virtual test process; Said autonomous underwater vehicle homing system process module need read the status information that target simulation system process module provides in each work period.
4. the virtual test method of an autonomous underwater vehicle mission planning system is characterized in that: after initialization finishes, load the mission planning system that reality is used in the autonomous underwater vehicle and quicken in the transaction card and operation to data; After user identity is identified, on virtual test platform operations interface, fill in the configuration information of this virtual test, comprise virtual test report, the story of a play or opera information of virtual test and the configuration parameter of autonomous underwater vehicle mission planning system; All configuration informations of the upper computer control module of virtual test platform check effectively after, configuration information is sent to autonomous underwater vehicle simulation system module through PCI Express bus; Autonomous underwater vehicle simulation system module is organized the virtual test flow process, loads the configuration parameter of autonomous underwater vehicle mission planning system module and is started virtual test according to the configuration information of virtual test; Autonomous underwater vehicle mission planning system process module, dynamics kinematics are resolved between system process module and the autonomous underwater vehicle homing system process module with unified virtual test cycle synchronisation operation, by the consistance of autonomous underwater vehicle mission planning system process module coordination with the control virtual test time and space; The dynamics kinematics is resolved the system process module and is carried out in the process at virtual test; Each work period is resolved the equation of motion group that extensively is suitable for, and the autonomous underwater vehicle status information of resolving is sent to autonomous underwater vehicle mission planning system process module in each virtual test cycle; Target simulation system process module calculates the target status information relative with autonomous underwater vehicle in the virtual test, and sends to autonomous underwater vehicle homing system process module according to the virtual test procedure information that virtual test platform story of a play or opera planning process sends; Autonomous underwater vehicle homing system process module receives the status information from the target simulation system module in each work period; According to the workflow requirement of autonomous underwater vehicle homing system, status informations such as the distance of transmission target, the degree of depth, orientation and velocity are given autonomous underwater vehicle mission planning system process module; Autonomous underwater vehicle homing system process module reads the status information that target simulation system process module provides in its each work period; Virtual test platform story of a play or opera planning process module receives the status information that autonomous underwater vehicle mission planning system process module provides in each work period; And provide the virtual test procedure information, and the virtual test result is sent to the virtual test platform total activation thread module of upper computer control module through PCI Express bus to target simulation system process module; Virtual test platform total activation thread module stores virtual test result shares test findings to the virtual test what comes into a driver's generating the thread module simultaneously; The virtual test what comes into a driver's generates thread module parses virtual test result; Obtain the parameter information of all models and environment special efficacy in virtual test two dimension and the three-dimensional vision; And produce what comes into a driver's generation data, with the motion of autonomous underwater vehicle model and object module in the data-driven what comes into a driver's and the generation of various environment special efficacys; So circulation is until accomplishing virtual test.
5. the virtual test method of an autonomous underwater vehicle mission planning system is characterized in that: after initialization finishes, load the mission planning system that reality is used in the autonomous underwater vehicle and quicken in the transaction card and operation to data; After user identity is identified, activate half virtual test function in kind of autonomous underwater vehicle mission planning system through virtual test platform operations interface; High Level Architecture HLA interface thread module, virtual test platform total activation thread module directly are communicated with autonomous underwater vehicle mission planning system process module; The operation of other thread module of barrier and process module is by virtual test platform total activation threads store virtual test result; Carry out in the process at half virtual test in kind, by autonomous underwater vehicle mission planning system process module controls experiment process, the virtual test platform is equivalent to the mission planning simulation system in the autonomous underwater vehicle distributed simulation system fully; The user finishes half virtual test in kind of autonomous underwater vehicle mission planning system through virtual test platform operations interface.
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| CN104678776A (en) * | 2013-11-26 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Semi-physical/full-digital compatible simulation method for ocean robots |
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| CN105242958A (en) * | 2015-11-25 | 2016-01-13 | 哈尔滨工业大学 | Virtual testing system and HLA simulation system data exchange method |
| CN105930292A (en) * | 2016-04-28 | 2016-09-07 | 上海机电工程研究所 | Method and system for realizing high speed real time injection of infrared scene |
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| CN111257857A (en) * | 2020-02-12 | 2020-06-09 | 中国人民解放军国防科技大学 | Underwater target simulation system and method |
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