CN108897322B - Unmanned ship autonomous navigation track tracking controller test simulation platform and working method - Google Patents
Unmanned ship autonomous navigation track tracking controller test simulation platform and working method Download PDFInfo
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Abstract
The invention discloses a test simulation platform for an unmanned ship autonomous navigation track tracking controller and a working method, wherein the platform comprises a PC (personal computer) and a DS2211 control board, and the PC is in bidirectional connection with the track tracking controller to be tested; the PC is bidirectionally connected with the DS2211 control board through a slot of an ISA interface. A human-computer interface and a ship motion simulation system run on the PC; the DS2211 control board runs a dSPACE real-time system. The DS2211 control board of the dSPACE real-time system is inserted into the PC, real-time communication is carried out through the ISA bus, the ship motion simulation system can directly carry out real-time simulation operation on the control board, the DS2211 control board realizes the real-time simulation function of the target machine in a 'double-machine interconnection mode', the PC or an industrial controller is not needed to be used as the target machine, and the problems of low hardware resource utilization rate and poor practicability of a test platform in the 'double-machine interconnection mode' are solved.
Description
Technical Field
The invention relates to a test technology in the field of unmanned ships, in particular to a test simulation platform for an autonomous navigation track tracking controller of an unmanned ship and a working method thereof.
Background
With the implementation of the national ocean development strategy, the research and development of unmanned ships are receiving wide attention. Considering the problems of navigation benefit, safety and the like, the unmanned ship needs to plan the expected optimal track through autonomous decision in the navigation process, and the track tracking controller controls the unmanned ship to autonomously navigate according to the expected optimal track. However, in the process of controlling the unmanned ship to navigate by the track tracking controller, the unmanned ship is affected by randomly changed disturbance of marine environment, and uncertainty is generated due to perturbation of parameters of a mathematical model of unmanned ship motion caused by changes of navigation speed and loading capacity. A track tracking controller test simulation platform is required to be established to simulate the unmanned ship motion state and environments such as different sea conditions, limited water areas and the like, and the autonomous navigation control function and performance of the unmanned ship track tracking controller under the conditions of disturbance and dynamic uncertainty are tested. Therefore, the establishment of the track following controller test simulation platform has important significance for the research and development of unmanned ships and must bring great social and economic benefits.
Chinese patent CN 107092199 a discloses a ship motion control simulation platform and a ship motion control method, which verify the reliability of a ship motion control algorithm by performing a simulation test on the ship motion control simulation platform. Chinese patent CN 101373491a discloses a set of ship motion control algorithm test simulation system, which can realize simulation test of various ship motion control algorithms on two different ship types, 5446TEU large container ship and 3 ten thousand ton oil tanker, and the ship motion control algorithm and the ship type can be freely switched according to the user's requirement, and the test result curve is displayed through the course and track curve display interface. However, the display interfaces of the above patents are developed based on a VC + + platform, and there are problems that the design process is complicated and difficult to implement; in addition, the above patents can only change sea condition parameters, cannot set a limited water area, and cannot test the control performance of the control algorithm under the limited water area.
Shen Zhipeng et al of university of maritime affairs published a paper entitled "research of ship motion control hardware in a loop simulation system" in the 12 th year 2010 in the 'System simulation journal', serial port communication is adopted, a personal computer is set up as a host machine, a base PC is used as a ship motion control hardware in a loop simulation system of a 'host machine-target machine' dual-machine interconnection mode of a target machine, and the performance of a ship motion controller can be tested; a grand master academic thesis of Harbin engineering university, namely the research on design and prediction method of a ship three-degree-of-freedom simulation platform, establishes a real-time simulation platform in a host machine-target machine dual-machine interconnection mode through an Ethernet based on a TCP-IP protocol, and can test the motions of three degrees of freedom, namely roll, pitch and heave of a ship. The real-time simulation test platform set up by the two papers has the advantages of low utilization rate of hardware resources of a target machine, huge mechanism and poor practicability due to the adoption of a double-machine interconnection mode.
Disclosure of Invention
In order to solve the problems in the prior art, the invention designs a test simulation platform and a working method of the unmanned ship autonomous navigation track tracking controller based on a dSPACE real-time system, which can realize the function and performance test of the track tracking controller in the limited water areas such as complex water areas, narrow water channels and the like; and the problems of low hardware resource utilization rate and poor practicability of the real-time test platform built in a dual-computer interconnection mode can be solved.
In order to achieve the purpose, the technical scheme of the invention is as follows: a test simulation platform for an unmanned ship autonomous navigation track tracking controller comprises a PC (personal computer) and a DS2211 control panel, wherein the PC is in bidirectional connection with a track tracking controller to be tested through an I/O (input/output) interface; the PC is bidirectionally connected with the DS2211 control board through a slot of an ISA interface.
A human-computer interface and a ship motion simulation system run on the PC; the DS2211 is provided with a dSPACE real-time system.
The human-computer interface is a monitoring interface for track tracking controller testing and is realized by the design of experimental software ControlDesk of a dSPACE real-time system; the ship motion simulation system is realized by MATLAB/Simulink design. The ship motion simulation system comprises a ship motion module, a propulsion system module, a position measurement system module, a water area limiting module and a storm flow disturbance module. The ship motion module comprises a ship motion mathematical model; the propulsion system module comprises a mathematical model of each propeller of the propulsion system and a force conversion mathematical model thereof; the position measurement system module comprises a satellite navigation system and a compass measurement mathematical model; the water area limiting module comprises a boundary line simulation mathematical model of a complex water area and a narrow water channel; the wave flow disturbance module comprises an equivalent disturbance force and moment mathematical model acted on the ship by wave flow disturbance.
The ControlDesk experiment software of the dSPACE real-time system comprises various virtual function modules required by parameter setting and test curve display, and is easy to design a friendly human-computer interface; the DS2211 control board is inserted into a PC, the DS2211 control board is communicated with the PC in real time through an ISA bus, and a ship motion simulation system realized by MATLAB/Simulink on the PC is in real-time simulation operation on the DS2211 control board; therefore, the track tracking controller to be tested is tested in real time through the I/O interface.
In the signal exchange process of the real-time test of the track tracking controller to be tested, the human-computer interface realizes the following functions: setting various control instructions; setting, modifying and displaying ship parameters and storm flow parameters; displaying the state of the propeller; displaying a track curve; and limiting the display of the water area and the archiving of the test result. The control instructions comprise an experiment starting instruction, a water area limiting simulation instruction and an experiment ending instruction. The ship parameters comprise the full length of the ship, the width of the ship, the full-load draft, the power of a main engine, the displacement, the distance between the gravity center of the ship and the area of a rudder blade; the wave flow parameters comprise: sea wind speed, sense wave height, average sea current flow velocity, angle of sea wind, sea wave and sea current relative to north; the sea wind is steady flow wind; the PC sends the executable C code of the ship motion simulation system to the DS2211 control board through the ISA interface for real-time simulation, and then a ship motion module of the ship motion simulation system simulates the motion of the unmanned ship in real time; a propulsion system module of the ship motion simulation system simulates a propeller of the unmanned ship in real time; a position measurement system module of the ship motion simulation system simulates the position information of a satellite navigation system and a compass measurement unmanned ship in real time; a water area limiting module of the ship motion simulation system simulates a water area limiting environment in real time; the method comprises the steps that a storm flow disturbance module of a ship motion simulation system simulates storm flow interference borne by an unmanned ship in real time, a DS2211 control board sends real-time simulation results, namely simulated sensor real-time signals, propeller real-time state signals and boundary line signals limiting a water area, back to a PC through an ISA interface, and the PC sends the simulation results to a human-computer interface and sends the simulation results to a flight path tracking controller to be tested through an I/O interface.
The working method of the test simulation platform of the unmanned ship autonomous navigation track tracking controller comprises the following steps:
A. starting a test simulation platform;
B. setting ship parameters and wave flow parameters through a human-computer interface, and sending the wave flow parameters to a ship motion module through the human-computer interface; the ship parameters comprise the full length of the ship, the width of the ship, the full-load draft, the power of a main engine, the displacement, the distance between the gravity center of the ship and the area of a rudder blade; the wave flow parameters comprise: sea wind speed, sense wave height, average sea current flow velocity, angle of sea wind, sea wave and sea current relative to north;
C. judging whether to start the test according to whether the test track tracking controller receives an experiment starting instruction signal of a human-computer interface through the I/O interface, and turning to the step C if the test track tracking controller does not receive the signal; otherwise, executing step D;
D. judging whether to start the limited water area simulation according to whether the limited water area module receives a limited water area simulation instruction signal of the human-computer interface, and turning to the step E if the limited water area simulation instruction signal is started; otherwise, turning to the step F;
E. the water area limiting module receives a water area limiting simulation instruction signal from the human-computer interface, simulates water area limiting environments such as water channel stenosis and sends a boundary line signal of the operation result ship limiting water area to the human-computer interface;
F. setting wave flow parameters through a human-computer interface;
the wave flow disturbance module receives wave flow parameters, simulates operation and sends an operation result, namely equivalent interference force and moment signals of the wave flow acting on the ship to the ship motion module;
G. the flight path tracking controller to be tested sends signals of expected rotating speed, direction angle and rudder angle of each propeller to the propulsion system module through the I/O interface; the propulsion system module receives expected rotating speed and direction angle signals from the track tracking controller to be tested, simulates and operates, sends operation results, namely actual rotating speed, direction angle and rudder angle signals of the propellers to a man-machine interface, converts the actual rotating speed, direction angle and rudder angle signals of each propeller into equivalent force and moment signals acting on the unmanned ship and sends the equivalent force and moment signals to the ship motion module;
H. the ship motion module receives operation results from the propulsion system module and the storm flow disturbance module, simulates operation, and sends the operation results, namely ship motion state signals to the position measurement system module, wherein the position motion state signals comprise position signals and angle signals;
I. the position measurement system module receives an operation result from the ship motion module, simulates operation, and sends a sensor signal simulated by the operation result position measurement system to the human-computer interface and the simulated test track tracking controller;
J. the man-machine interface receives the operation results from the water area limiting module and the position measuring system module, displays ship parameters, storm flow parameters, propeller states, actual track curves and the ship limited water area, and archives the test results;
K. judging whether the wave flow parameters are changed or not, if so, turning to the step F; if not, turning to the step K;
l, judging whether the limited water area simulation is changed or not, and if so, turning to the step E; if not, turning to the step L;
m, judging whether the experiment is ended or not according to whether the flight path tracking controller to be tested receives an experiment ending instruction signal of a human-computer interface through an I/O interface or not, if so, ending the experiment, and closing the test simulation platform; if not, continuing the experiment without changing the experiment conditions, and turning to the step G.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention establishes a real-time test simulation platform, can efficiently test the functions and the performances of the autonomous navigation track tracking controller in different sea conditions and limited water areas, avoids the danger of real ship test, can save the research and development cost of the unmanned ship, and shortens the research and development period of the unmanned ship.
2. The test simulation platform develops the human-computer interface through the ControlDesk experiment software of the dSPACE real-time system, the ControlDesk experiment software comprises various virtual function modules required by parameter setting, test curve display and the like, the human-computer interface is not required to be realized through VC + + platform programming, and the problem that the design process of developing the human-computer interface based on the VC + + platform is complex and difficult to realize is solved.
3. The invention comprises a water area limiting module, and can realize the function and performance test of the track tracking controller in the water area limiting such as complex water areas, narrow water channels and the like.
4. According to the invention, the DS2211 control board of the dSPACE real-time system is inserted into the PC, and the control board and the ISA bus can be used for real-time communication, so that a ship motion simulation system realized by MATLAB/Simulink on the PC can be directly simulated and operated on the control board in real time, the DS2211 control board realizes the real-time simulation function of the target machine in a 'double-machine interconnection mode', and a PC or an industrial controller is not required to be used as the target machine, so that the problems of low hardware resource utilization rate and poor practicability of a test platform in the 'double-machine interconnection mode' are solved.
Drawings
FIG. 1 is a schematic structural diagram of a test simulation platform.
Fig. 2 is a handshake diagram of a test simulation platform.
FIG. 3 is a test simulation platform workflow diagram.
In the figure: 1. the system comprises a test-planned track tracking controller, a PC (personal computer) 2, a DS2211 control board 4, an I/O (input/output) interface 5, an ISA (industry standard architecture) interface 6, a ship motion module 7, a propulsion system module 8, a position measurement system module 9, a water area limiting module 10, a storm flow disturbance module 11 and a human-computer interface.
Detailed Description
The invention is further described below with reference to the accompanying drawings. As shown in fig. 1, the track following controller test simulation platform comprises a human-computer interface 8, an I/O interface 2 and a ship motion simulation system; the ship motion simulation system comprises a ship motion module 3, a propulsion system module 4, a position measurement system module 5, a water area limiting module 6 and a storm flow disturbance module 7.
The setting of various control instructions, the transmission and display of ship parameters and storm flow parameters, the display of propeller states, the display of flight path curves, the display of limited water areas and the archiving of test results are realized through the human-computer interface 8. The control instruction comprises: the method comprises an experiment starting instruction, a water area limiting simulation instruction and an experiment ending instruction. The commands set on the human-machine interface 8 can generate signals transmitted between the modules.
The human-computer interface 8 is respectively in data exchange with the ship motion module 3, the propulsion system module 4, the position measurement system module 5, the water area limiting module 6, the storm flow disturbance module 7 and the track tracking controller 1 to be tested. The man-machine interface 8 transmits the set ship parameters to the ship motion module 3; the human-computer interface 8 sends a water area limiting analog signal to the water area limiting module 6; the human-computer interface 8 transmits the wave flow parameters to the wave flow disturbance module 7; the human-computer interface 8 sends an experiment starting signal and an experiment ending signal to the flight path tracker 1 to be tested; the human-machine interface 8 receives signals such as the actual rotating speed, the direction angle, the rudder angle and the like of each propeller in the propulsion system module 4; the human-computer interface 8 receives a water area limiting boundary line signal from the water area limiting module 6; the human-machine interface 8 receives analogue signals from the sensors of the position measurement system module 5, said analogue signals of the sensors comprising angle signals and position signals.
The water area limiting analog signal comprises two conditions of limiting the work of the water area module 6 and limiting the non-work of the water area module 6: the user sets a water area simulation limiting instruction through the human-computer interface 8 to realize the selection of two conditions. Under the working condition of the water area limiting module 6, the water area limiting module 6 receives a water area limiting analog signal from the human-computer interface 8, simulates a water area limiting environment such as a narrow water channel and the like, and gives an operation result, namely a water area limiting boundary line signal to the human-computer interface; in the case where the limited water area module 6 does not operate, the limited water area module 6 does not transmit data to the human-machine interface 8.
As shown in fig. 2, a method for testing a simulation platform by a track following controller includes the following steps:
A. starting a test simulation platform to initialize ship parameters
Before the track following controller 1 to be tested tests, ship parameters are initialized. The ship parameter initialization is that the human-computer interface 8 transmits the set ship parameters to the ship motion module 3, and the ship motion module 3 performs initialization operation according to the received ship parameters. The ship parameters comprise navigational speed, length between two columns, ship width, full-load draught, square coefficient, displacement, distance between the center of gravity of the ship and the center of the ship and rudder blade area.
B. Judging whether to start testing
After the initialization is finished, the test-planned track tracking controller 1 receives an experiment starting signal from the human-computer interface 8, judges whether to start a test according to the state of an experiment starting instruction, and waits in the step if the test is not needed; otherwise, executing the next step;
C. beginning test
The track tracking controller 1 to be tested realizes real-time data exchange with the propulsion system module 4 and the position measurement system module 5 through the I/O interface 2, and starts testing.
D. Method for operating a propulsion system module 4
The simulation test flight path tracking controller 1 sends the expected rotating speed, direction angle and rudder angle signals of each propeller to the propulsion system module 2, the propulsion system module 4 receives the expected rotating speed, direction angle and rudder angle signals from the simulation test flight path tracking controller 1, simulates and operates, sends the operation result, namely the actual rotating speed, direction angle and rudder angle signals of each propeller to the human-computer interface 8, converts the actual rotating speed, direction angle and rudder angle signals of each propeller into equivalent force and moment acting on the unmanned ship through the force conversion model and sends the equivalent force and moment to the ship motion module 3;
E. working method of wave flow disturbance module 7
Setting wave flow parameters through a human-computer interface, receiving the wave flow parameters by the wave flow disturbance module 7, performing simulation operation, and sending an operation result, namely equivalent interference force and moment of the wave flow acting on the ship to the ship motion module 3;
F. water area limiting module 6 working method
Judging whether to start the limited water area simulation according to the state of the limited water area simulation instruction, and if not, not sending data to the human-computer interface by the limited water area module 6; otherwise, the water area limiting module receives a water area limiting analog signal from the human-computer interface, simulates water area limiting environments such as water channel stenosis and the like, and sends an operation result, namely a boundary line of the limiting water area, to the human-computer interface 8;
G. working method of ship motion module 3
The ship motion module 3 receives the operation results from the propulsion system module 4 and the storm flow disturbance module 7, simulates the operation, and sends the operation results, namely the real-time motion state of the ship, to the position measurement system module 5;
H. method for operating a position measuring system module 5
The position measurement system module 5 receives the operation result from the ship motion module 3, simulates the operation, and sends the operation result, namely the analog signal of each sensor, to the human-computer interface 8 and the track tracking controller 1 to be tested respectively.
I. Working method of human-computer interface 8
Under the condition that the water area module is limited not to work 6, the human-computer interface 8 receives the operation results of the propulsion system module 4 and the position measurement system module 5, and displays ship parameters, a propeller state, storm flow parameters, an unmanned ship expected track curve and an unmanned ship actual track curve on the human-computer interface 8; under the condition that the water area limiting module 6 works, the human-computer interface 8 receives the operation results of the propulsion system module 4, the water area limiting module 6 and the position measuring system module 5, displays ship parameters, a propeller state, storm flow parameters, an expected track curve of the unmanned ship, an actual track curve of the unmanned ship and a ship feasible region on the human-computer interface 8, and archives a test result;
J. judging whether the wave flow parameters are changed or not, if so, resetting the wave flow parameters on the human-computer interface; if not, executing the next step;
K. judging whether the limited water area simulation is changed or not, if so, changing a special water area simulation instruction on a human-computer interface; if not, executing the next step;
l, judging whether the experiment is ended or not according to the state of the experiment ending instruction, and if so, ending; if not, the test is continued without changing the experimental conditions.
The present invention is not limited to the embodiment, and any equivalent idea or change within the technical scope of the present invention is to be regarded as the protection scope of the present invention.
Claims (2)
1. The utility model provides an unmanned ship is from independent navigation track tracking controller test simulation platform which characterized in that: the system comprises a PC (2) and a DS2211 control board (3), wherein the PC (2) is in bidirectional connection with a track tracking controller (1) to be tested through an I/O (input/output) interface (4); the PC (2) is bidirectionally connected with the DS2211 control board (3) through a slot of the ISA interface (5);
a human-computer interface (11) and a ship motion simulation system run on the PC (2); a dSPACE real-time system runs on the DS2211 control plate (3);
the human-computer interface (11) is a monitoring interface for track tracking controller testing and is realized by the design of experimental software ControlDesk of a dSPACE real-time system; the ship motion simulation system is realized by MATLAB/Simulink design; the ship motion simulation system comprises a ship motion module (6), a propulsion system module (7), a position measurement system module (8), a water area limiting module (9) and a wave flow disturbance module (10); the ship motion module (6) comprises a ship motion mathematical model; the propulsion system module (7) comprises a mathematical model of each propeller of the propulsion system and a force conversion mathematical model thereof; the position measurement system module (8) comprises a satellite navigation system and a compass measurement mathematical model; the water area limiting module (9) comprises a boundary line simulation mathematical model of a complex water area and a narrow water channel; the wave flow disturbance module (10) comprises an equivalent disturbance force and moment mathematical model acted on the ship by wave flow disturbance;
the ControlDesk experiment software of the dSPACE real-time system comprises various virtual function modules required by parameter setting and test curve display, and is easy to design a friendly human-computer interface (11); the DS2211 control board (3) is inserted into the PC (2), the DS2211 control board (3) and the PC (2) are communicated in real time through an ISA bus, and a ship motion simulation system realized by MATLAB/Simulink on the PC (2) is simulated and operated in real time on the DS2211 control board (3); thereby testing the track tracking controller (1) to be tested in real time through the I/O interface (4);
in the signal exchange process of the real-time test of the track tracking controller (1) to be tested, the human-computer interface (11) realizes the following functions: setting various control instructions; setting, modifying and displaying ship parameters and storm flow parameters; displaying the state of the propeller; displaying a track curve; limiting the display of the water area and archiving the test result; the control instruction comprises an experiment starting instruction, a water area limiting simulation instruction and an experiment ending instruction; the ship parameters comprise the full length of the ship, the width of the ship, the full-load draft, the power of a main engine, the displacement, the distance between the gravity center of the ship and the area of a rudder blade; the wave flow parameters comprise: sea wind speed, sense wave height, average sea current flow velocity, angle of sea wind, sea wave and sea current relative to north; the sea wind is steady flow wind; the PC (2) sends an executable C code of the ship motion simulation system to the DS2211 control board (3) through the ISA interface (5) for real-time simulation, and a ship motion module (6) of the ship motion simulation system simulates the motion of the unmanned ship in real time; a propulsion system module (7) of the ship motion simulation system simulates a propeller of the unmanned ship in real time; a position measurement system module (8) of the ship motion simulation system simulates the position information of a satellite navigation system and a compass measurement unmanned ship in real time; a water area limiting module (9) of the ship motion simulation system simulates a water area limiting environment in real time; a wave flow disturbance module (10) of the ship motion simulation system simulates wave flow interference borne by an unmanned ship in real time, a DS2211 control board (3) sends real-time simulation results, namely simulated sensor real-time signals, propeller real-time state signals and boundary line signals limiting a water area, back to a PC (2) through an ISA (industry standard architecture) interface (5), and the PC (2) sends the real-time simulation results to a human-machine interface (11) and sends the real-time simulation results to a flight path tracking controller (1) to be tested through an I/O (input/output) interface (4).
2. The working method of the test simulation platform of the unmanned ship autonomous navigation track tracking controller is characterized by comprising the following steps: the method comprises the following steps:
A. starting a test simulation platform;
B. ship parameters and wave flow parameters are set through a man-machine interface (11), and the man-machine interface (11) sends the wave flow parameters to a ship motion module (6); the ship parameters comprise the full length of the ship, the width of the ship, the full-load draft, the power of a main engine, the displacement, the distance between the gravity center of the ship and the area of a rudder blade; the wave flow parameters comprise: sea wind speed, sense wave height, average sea current flow velocity, angle of sea wind, sea wave and sea current relative to north;
C. judging whether to start the test according to whether the test track tracking controller (1) receives an experiment starting instruction signal of the human-computer interface (11) through the I/O interface (4), and turning to the step C if the test track tracking controller (1) does not receive the signal; otherwise, executing step D;
D. judging whether to start the limited water area simulation according to whether the limited water area simulation instruction signal of the human-computer interface (11) is received by the limited water area module (9), and turning to the step E if the limited water area simulation instruction signal is started; otherwise, turning to the step F;
E. the water area limiting module (9) receives a water area limiting simulation instruction signal from the man-machine interface (11), simulates water area limiting environments such as a narrow water channel and sends a boundary line signal of a ship limiting water area as an operation result to the man-machine interface (11);
F. setting wave flow parameters through a human-computer interface (11);
the wave flow disturbance module (10) receives wave flow parameters, simulates operation and sends an operation result, namely equivalent interference force and moment signals of wave flow acting on a ship to the ship motion module (6);
G. the flight path tracking controller to be tested (1) sends signals of expected rotating speed, direction angle and rudder angle of each propeller to a propulsion system module (7) through an I/O interface (4); the propulsion system module (7) receives expected rotating speed and direction angle signals from the track tracking controller (1) to be tested, simulates and operates, sends operation results, namely actual rotating speed, direction angle and rudder angle signals of the propellers to the man-machine interface (11), converts the actual rotating speed, direction angle and rudder angle signals of each propeller into equivalent force and moment signals acting on the unmanned ship and sends the equivalent force and moment signals to the ship motion module (6);
H. the ship motion module (6) receives operation results from the propulsion system module (7) and the storm flow disturbance module (10), simulates operation, and sends the operation results, namely ship motion state signals to the position measurement system module (8), wherein the position motion state signals comprise position signals and angle signals;
I. the position measurement system module (8) receives the operation result from the ship motion module (6), simulates operation, and sends a sensor signal simulated by the operation result position measurement system to the human-computer interface (11) and the track tracking controller (1) to be tested;
J. the man-machine interface (11) receives the operation results from the water area limiting module (9) and the position measuring system module (8), displays ship parameters, storm flow parameters, propeller states, actual track curves and ship limited water areas, and archives the test results;
K. judging whether the wave flow parameters are changed or not, if so, turning to the step F; if not, turning to the step K;
l, judging whether the limited water area simulation is changed or not, and if so, turning to the step E; if not, turning to the step L;
m, judging whether the experiment is finished or not according to whether the flight path tracking controller (1) to be tested receives an experiment finishing instruction signal of the human-computer interface (11) through the I/O interface (4), if so, finishing the experiment, and closing the test simulation platform; if not, continuing the experiment without changing the experiment conditions, and turning to the step G.
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| CN201810789860.6A CN108897322B (en) | 2018-07-18 | 2018-07-18 | Unmanned ship autonomous navigation track tracking controller test simulation platform and working method |
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| CN109634289A (en) * | 2019-01-24 | 2019-04-16 | 大连海事大学 | A kind of unmanned boat autonomous navigation system and its working method |
| CN109911110B (en) * | 2019-03-27 | 2020-04-21 | 武汉理工大学 | Stability-variable ship |
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| CN111045424B (en) * | 2019-11-28 | 2023-08-11 | 青岛海狮网络科技有限公司 | Test system of intelligent ship decision instruction interpretation module |
| CN113053170A (en) * | 2019-12-29 | 2021-06-29 | 广东华风海洋信息系统服务有限公司 | Method for realizing intelligent navigation system |
| CN113120186A (en) * | 2020-01-16 | 2021-07-16 | 广州幻境科技有限公司 | Unmanned ship testing method and system based on virtual reality |
| CN111353233B (en) * | 2020-03-11 | 2024-03-29 | 智慧航海（青岛）科技有限公司 | Intelligent ship autonomous navigation function test simulation experiment frame |
| CN111532398A (en) * | 2020-04-26 | 2020-08-14 | 杭州智海人工智能有限公司 | Simulation and observation algorithm for unmanned ship |
| CN112558615A (en) * | 2020-12-26 | 2021-03-26 | 北京理工大学 | Intelligent unmanned ship real-time simulation control system |
| CN115629590A (en) * | 2022-08-31 | 2023-01-20 | 上海船舶工艺研究所(中国船舶集团有限公司第十一研究所) | Modularized ship motion control debugging system and ship motion control debugging method |
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