CN114675561A - Simulation test system, method, equipment and storage medium of unmanned ship - Google Patents
Simulation test system, method, equipment and storage medium of unmanned ship Download PDFInfo
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- CN114675561A CN114675561A CN202210437044.5A CN202210437044A CN114675561A CN 114675561 A CN114675561 A CN 114675561A CN 202210437044 A CN202210437044 A CN 202210437044A CN 114675561 A CN114675561 A CN 114675561A
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Abstract
The application discloses simulation test system, method, equipment and storage medium of unmanned ship, and the simulation test system includes virtual simulation subsystem, controller and ground station, so this application only need a computer equipment can, do not need more hardware equipment, simple structure, more laminating practical application. The virtual simulation subsystem generates virtual scene data, the controller is used for simple task processing and the ground station is used for complex task processing, simulation testing is conducted on the virtual unmanned ship according to relevant signals of the controller and the ground station, complex environment simulation is achieved under the condition that actual sailing is not conducted on the unmanned ship, execution efficiency of relevant algorithms can be verified according to the sailing condition of the virtual unmanned ship, and manpower and material cost for actual ship testing of the unmanned ship is reduced.
Description
Technical Field
The present application relates to the field of simulation technologies, and in particular, to a simulation test system, method, device, and storage medium for an unmanned surface vehicle.
Background
An Unmanned Surface Vehicle (USV) is a small water Surface platform which has environment sensing and autonomous navigation capabilities and can autonomously complete corresponding tasks, and is widely applied to the fields of scientific investigation, water quality monitoring, water Surface search and rescue and the like. In the development of unmanned boats, it is generally necessary to perform performance tests on each system of the unmanned boat to verify whether it can meet the design requirements and whether it has reliability and stability.
At present, the test cost of lake test and sea test of unmanned boats is high, and the test requirement of an atypical scene cannot be effectively covered. The simulation test of the unmanned ship stays in an experimental stage, the simulation environment in the simulation test scene is generated by using simulation software, and the simulation environment is too simple and is not fit for practical application. Therefore, how to create a comprehensive simulation environment close to reality becomes a technical problem to be solved urgently in research and test of the unmanned ship.
Disclosure of Invention
The application provides a simulation test system, method, equipment and storage medium of an unmanned ship, which aim to solve the technical problem that the current simulation environment of the unmanned ship cannot meet the requirements of practical application.
In order to solve the above technical problem, in a first aspect, an embodiment of the present application provides a simulation test system for an unmanned surface vehicle, including a virtual simulation subsystem, a controller, and a ground station, where the virtual simulation subsystem includes an environment construction module, an environment sensing module, and an unmanned surface vehicle control module;
the environment construction module is used for constructing a virtual unmanned ship model and a virtual navigation environment;
the environment perception module is used for generating virtual scene data of the virtual unmanned ship model when the virtual navigation environment navigates, and transmitting the virtual scene data to the controller and the ground station;
the controller is used for performing simple task processing on the virtual scene data, generating a first control signal and transmitting the first control signal to the unmanned ship control module;
the ground station is used for performing complex task processing on the virtual scene data, generating a second control signal and transmitting the second control signal to the unmanned ship control module;
the unmanned ship control module is used for carrying out simulation test on the virtual unmanned ship model according to the first control signal and the second control signal.
The simulation test system comprises the virtual simulation subsystem, the controller and the ground station, so that only one computer device is needed, more hardware devices are not needed, the structure is simple, and the simulation test system is more suitable for practical application. The virtual simulation system generates virtual scene data through the virtual simulation subsystem, performs simple task processing by using the controller and performs complex task processing by using the ground station, performs simulation test on the virtual unmanned ship according to related signals of the controller and the ground station, and realizes complex environment simulation under the condition that the unmanned ship does not actually sail, so that the execution efficiency of related algorithms can be verified through the sailing condition of the virtual unmanned ship, and the cost of manpower and material resources for real ship testing is reduced.
Preferably, the environment construction module includes:
an unmanned ship model configuration submodule for configuring a motor of the virtual unmanned ship model, the motor being controllable by an unmanned ship control module;
and the navigation environment configuration submodule is used for configuring the water body and the terrain of the virtual navigation environment.
Preferably, the navigation environment configuration submodule includes:
the hull buoyancy configuration unit is used for configuring buoyancy parameters of the hull according to the unmanned boat type of the unmanned boat model;
the drift interference configuration unit is used for configuring drift interference parameters of the water body on the unmanned ship model according to preset wave parameters;
and the map configuration unit is used for configuring the barrier parameters of the map environment according to the preset map environment type.
Preferably, the environment sensing module includes:
and the sensor submodule is used for sensing virtual scene data of the virtual unmanned ship model when the virtual navigation environment navigates, wherein the virtual scene data comprises at least one of vision sensor data, position sensor data, pose sensor data, distance sensor data, course angle sensor data and speed sensor data.
Preferably, the system further comprises:
the virtual TCP communication module is used for transmitting the virtual scene data to the controller in a TCP communication mode, analyzing the first control signal and the second control signal, and transmitting the analyzed first control signal and the analyzed second control signal to the unmanned ship control module.
Preferably, the controller is specifically configured to:
generating the first control parameter according to the virtual scene data, wherein the first control parameter comprises a course parameter and a speed parameter of the virtual unmanned ship model;
generating the first control parameter as the first control signal.
Preferably, the ground station is specifically configured to:
and performing task planning, behavior planning and/or motion planning on the virtual unmanned ship model according to the virtual scene data to obtain a second control parameter, and generating the second control parameter into the second control signal.
In a second aspect, the present application provides a simulation test method for an unmanned surface vehicle, including:
constructing a virtual unmanned ship model and a virtual navigation environment;
generating virtual scene data of the virtual unmanned ship model when the virtual navigation environment navigates, and transmitting the virtual scene data to a controller and a ground station;
receiving a first control signal generated by the controller performing simple task processing on the virtual scene data and a second control signal generated by the ground station performing complex task processing on the virtual scene data;
and carrying out simulation test on the virtual unmanned ship model according to the first control signal and the second control signal.
In a third aspect, the present application provides a computer apparatus comprising a processor and a memory for storing a computer program which, when executed by the processor, implements the method of simulation testing of an unmanned boat as described in the second aspect.
In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the method for simulation testing of an unmanned boat according to the second aspect.
Please refer to the relevant description of the first aspect for the beneficial effects of the second to fourth aspects, which are not repeated herein.
Drawings
Fig. 1 is a schematic structural diagram of a simulation test system of an unmanned surface vehicle according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating a simulation test method of an unmanned surface vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As recorded in the related art, the test cost of lake test and sea test of the current unmanned boat is high, and the test requirement of an atypical scene cannot be effectively covered. The simulation test of the unmanned ship stays in an experimental stage, the simulation environment in a simulation test scene is generated by using simulation software, and the simulation environment is too simple and does not fit practical application. Therefore, how to create a comprehensive simulation environment close to reality becomes a technical problem to be solved urgently in research and test of the unmanned ship.
In addition, the current unmanned boat test period is continuously modified in the field due to the lack of test in advance of the algorithm, so that the test time is continuously prolonged and is difficult to control, and further the overall efficiency is low; most of the virtual simulation subsystems only verify the function of a certain algorithm or a certain part independently, and do not establish the relation between different parts; the current virtual simulation subsystem can not perform hardware-in-the-loop simulation; currently, no relevant simulation software exists in the market, and the dynamic simulation of the unmanned ship sailing on the water surface can be simulated.
Therefore, the simulation test system of the unmanned ship comprises the virtual simulation subsystem, the controller and the ground station, so that only one computer device is needed, more hardware devices are not needed, the structure is simple, and the simulation test system is more suitable for practical application. The virtual simulation system generates virtual scene data through the virtual simulation subsystem, carries out simple task processing by using the controller and carries out complex task processing by using the ground station, carries out simulation test on the virtual unmanned ship according to related signals of the controller and the ground station, and can carry out complex environment simulation under the condition that the unmanned ship does not actually sail, thereby verifying the execution efficiency of related algorithms through the sailing condition of the virtual unmanned ship and reducing the cost of manpower and material resources for real ship testing.
Referring to fig. 1, fig. 1 shows a simulation test system of an unmanned surface vehicle according to an embodiment of the present application, including a virtual simulation subsystem 101, a controller 102, and a ground station 103, where the virtual simulation subsystem 101 includes an environment building module 1011, an environment sensing module 1012, and an unmanned surface vehicle control module 1013;
the environment construction module 1011 is used for constructing a virtual unmanned ship model and a virtual navigation environment;
the environment sensing module 1012 is configured to generate virtual scene data of the virtual unmanned ship model when the virtual navigation environment navigates, and transmit the virtual scene data to the controller and the ground station;
the controller 102 is configured to perform simple task processing on the virtual scene data, generate a first control signal, and transmit the first control signal to the unmanned ship control module;
the ground station 103 is configured to perform complex task processing on the virtual scene data, generate a second control signal, and transmit the second control signal to the unmanned ship control module;
the unmanned ship control module 1013 is configured to perform a simulation test on the virtual unmanned ship model according to the first control signal and the second control signal.
In this embodiment, the simulation test system is an unmanned ship hardware-in-the-loop simulation system developed based on illusion 4(UE4), which can simulate the internal state and the external state of the unmanned ship, wherein the internal state includes, but is not limited to, battery level, pose, speed, etc., and the external state includes the environmental information where the unmanned ship is located. The system has an automatic leaving and docking simulation map, comprises a docking area and a charging pile, and has the function of verifying that the unmanned ship accurately navigates to the docking area from a known position according to a known water area environment map; and the unmanned ship navigation system is provided with a path planning obstacle avoidance simulation map, in a relatively wide and closed area, a barrier is formed by reefs, plants and a moving ship, an unmanned ship starting point and a target point are set, the unmanned ship navigation system comprises a global map, and the unmanned ship navigation system has the functions of verifying collision avoidance and path planning.
Optionally, when the performance and the computational power of the computer are sufficient, three-dimensional modeling of the unmanned ship complex navigation environment can be established to obtain a more real virtual unmanned ship and a virtual navigation environment, and when the virtual scene model is established, two flows of multi-level detail level modeling and streaming dynamic rendering visualization are included. And multi-level detail level modeling is completed for the models of terrain, floating objects, ships and the like in the complex scene. The simulation equipment is constructed around a virtual scene to realize environment perception simulation and control simulation of unmanned boat navigation. In sensor modeling, synchronous processing of sensing data is realized through frame concurrency, and high real-time performance of an algorithm is guaranteed.
It should be noted that the application is definitely divided into a virtual simulation subsystem, a controller and a ground station, so that only one computer is needed, more hardware structures are not needed, the structure is simple, and the operation is convenient; and the simulation system, the controller and the ground station are connected, so that the method is closer to practical application, and the time and labor cost of outgoing tests are reduced. Meanwhile, the system has a water body dynamic system closer to the real water surface, and can perform simulation operation, operation training and experimental verification work of related algorithms under the environment closer to the real water condition and sea condition. And the unmanned ship hardware-in-loop simulation system can simulate under the condition that the unmanned ship does not sail, so that the controller and the ground station equipment can execute related tasks by using the virtual scene data, the execution efficiency of related algorithms is verified through the sailing condition of the virtual unmanned ship, the manpower physical cost of real ship testing is reduced, and the running efficiency is higher when the tested controller and the ground station are used for the unmanned ship system.
In an embodiment, based on the embodiment shown in fig. 1, the environment construction module includes:
an unmanned ship model configuration submodule for configuring a motor of the virtual unmanned ship model, the motor being controllable by an unmanned ship control module;
and the navigation environment configuration submodule is used for configuring the water body and the terrain of the virtual navigation environment.
In this embodiment, the model configuration submodule of the unmanned boat introduces the model of the boat body into the UE4, adds a physical motor at a proper position, and can set the thrust control and PWM signal control of the left and right (differential model) motors through keyboard control and real-time setting.
Optionally, the navigation environment configuration submodule includes:
the hull buoyancy configuration unit is used for configuring buoyancy parameters of the hull according to the unmanned boat type of the unmanned boat model;
the drift interference configuration unit is used for configuring drift interference parameters of the water body on the unmanned ship model according to preset wave parameters;
and the map configuration unit is used for configuring the barrier parameters of the map environment according to the preset map environment type.
In this optional embodiment, for the hull buoyancy configuration unit, the UE 44.26 official version adds physical water, but the buoyancy of water needs to be set and configured by itself according to different boat types to achieve more realistic effect; for the drift interference configuration unit, the water physics of the UE4 can simulate the triaxial shaking of an object, but the water waves and sea waves do not interfere the drifting of the object, so the invention increases the drift interference of the water body on the unmanned ship model, can generate the effects of waves and currents, interacts with the buoyancy system of the hull to generate the effects of rolling and pitching of the hull and the like, generates certain disturbance on the hull control module, and is closer to the real operating environment. Sea wave related parameters can be preset, such as wave number, wave width, wave peak value and wave valley value;
for the map configuration unit, models, materials, physical interaction and the like of various obstacles which may be encountered by various unmanned boats in the actual working environment are included; when the virtual scene building module builds the virtual navigation environment, corresponding texture models, material models, grid models and collision settings can be selected to be built respectively, so that the simulation effect is better.
Optionally, the navigation environment configuration sub-module further includes a log data processing module, configured to store the data of the environment sensing module in a log. Because the log contains a large amount of engine information, the Python is used for writing codes and analyzing related data;
in an embodiment, based on the embodiment shown in fig. 1, the environment sensing module includes:
and the sensor submodule is used for sensing virtual scene data of the virtual unmanned ship model when the virtual navigation environment navigates, wherein the virtual scene data comprises at least one of vision sensor data, position sensor data, pose sensor data, distance sensor data, course angle sensor data and speed sensor data.
In the present embodiment, the environment sensing module is carried by a virtual unmanned boat model, which includes but is not limited to a vision sensor, a position sensor, a pose sensor, 19 laser distance measuring sensors, and a speed sensor. The sensor can simulate real collected data after unit conversion and Gaussian noise, and the highest frequency can collect data of 60 frames/second (about 1.667 milliseconds/frame). Meanwhile, the laser ranging sensor can be used as a laser radar to return point cloud data. In the path planning, formation and obstacle avoidance mode: the environment sensing module senses that the unmanned boat is about to collide or is collided, the boat body overturns and reaches a specified terminal point within a certain range, the unmanned boat can be automatically reset to the position of the starting point, and the thrust of the left motor and the right motor is reset to zero.
In an embodiment, based on the embodiment shown in fig. 1, the system further includes:
the virtual TCP communication module is used for transmitting the virtual scene data to the controller in a TCP communication mode, analyzing the first control signal and the second control signal, and transmitting the analyzed first control signal and the analyzed second control signal to the unmanned ship control module.
In this embodiment, the virtual TCP communication module is configured to transmit the virtual environment data acquired by the environment sensing module to the controller in a text form. TCP communication is invoked within the UE4 using a C + + programming interface. And externally using Python written by the controller to receive data and process the data so as to carry out the research and simulation work of algorithms such as positioning posture keeping, deep learning and the like. And meanwhile, another thread is developed for inputting data such as thrust of a left motor and a right motor of the virtual unmanned ship model in real time to change the state of the current virtual unmanned ship model.
Optionally, the data processing function of the virtual TCP communication module includes: data normalization processing and collision and overturn detection; and inputting the motor thrust parameters in real time. In the path planning, formation and obstacle avoidance mode: the environment sensing module senses that the unmanned boat is about to collide or is collided, the boat body overturns and reaches a specified terminal point within a certain range, the unmanned boat can be automatically reset to the position of the starting point, and the thrust of the left motor and the right motor is reset to zero.
In an embodiment, on the basis of the embodiment shown in fig. 1, the controller is specifically configured to:
generating the first control parameter according to the virtual scene data, wherein the first control parameter comprises a course parameter and a speed parameter of the virtual unmanned ship model;
generating the first control parameter as the first control signal.
In this embodiment, the first control signal is a PWM signal, which is used to control the operation parameters of the left and right motors, so that the virtual unmanned surface vehicle model moves according to the above heading parameter and speed parameter, thereby achieving the purpose of executing according to the desired track. Optionally, the controller is responsible for executing according to the expected track, feeding back PWM signals of the left motor and the right motor of the virtual simulation subsystem, and feeding back state information of the ground station hull. Optionally, the controller comprises:
and the simple task processing module is used for receiving and processing the pose and other information of the virtual TCP communication module, and can process remote controller control and course navigational speed control. Sending the processing of complex information (such as information collected by a camera and a radar) to a ground station for the ground station to perform complex tasks;
and the instruction generating module is used for receiving the data processing results of the simple task module and the complex task module, generating a PWM signal and sending the PWM signal to the unmanned ship control module.
In an embodiment, based on the embodiment shown in fig. 1, the ground station is specifically configured to:
and performing task planning, behavior planning and/or motion planning on the virtual unmanned ship model according to the virtual scene data to obtain a second control parameter, and generating the second control parameter into a second control signal.
In this embodiment, the ground station receives the state information of the controller in real time and sends the mission plan, the behavior plan, and the motion plan to the controller. Optionally, the ground station comprises:
and the complex task module is used for receiving the virtual scene data, executing tasks such as path planning, image identification and the like according to the virtual scene data, sending a processing result to the controller, and communicating with the controller by using UDP communication.
Referring to fig. 3, fig. 3 is a schematic flow chart of a simulation testing method of an unmanned surface vehicle according to an embodiment of the present application. The simulation test method for the unmanned ship can be applied to computer equipment, and the computer equipment comprises equipment such as but not limited to a notebook computer, a tablet computer, a desktop computer, a physical server and a cloud server. As shown in fig. 1, the simulation test method of the unmanned surface vehicle of the present embodiment includes steps S201 to S204, which are detailed as follows:
step S201, constructing a virtual unmanned ship model and a virtual navigation environment;
step S202, generating virtual scene data of the virtual unmanned ship model in the virtual navigation environment navigation, and transmitting the virtual scene data to a controller and a ground station;
step S203, receiving a first control signal generated by the controller performing simple task processing on the virtual scene data and a second control signal generated by the ground station performing complex task processing on the virtual scene data;
and step S204, carrying out simulation test on the virtual unmanned ship model according to the first control signal and the second control signal.
It should be noted that the simulation test system described above can implement the simulation test method of the embodiment of the method. The alternatives in the above system embodiments are also applicable to this embodiment and will not be described in detail here. The rest of the embodiments of the present application may refer to the contents of the above system embodiments, and in this embodiment, details are not described again.
Fig. 3 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown in fig. 3, the computer device 3 of this embodiment includes: at least one processor 30 (only one shown in fig. 3), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30, the processor 30 implementing the steps of any of the above-described method embodiments when executing the computer program 32.
The computer device 3 may be a tablet computer, a desktop computer, a cloud server, or other computing device. The computer device may include, but is not limited to, a processor 30, a memory 31. Those skilled in the art will appreciate that fig. 3 is merely an example of the computer device 3, and does not constitute a limitation of the computer device 3, and may include more or less components than those shown, or combine some of the components, or different components, such as input output devices, network access devices, etc.
The Processor 30 may be a Central Processing Unit (CPU), and the Processor 30 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 31 may in some embodiments be an internal storage unit of the computer device 3, such as a hard disk or a memory of the computer device 3. The memory 31 may also be an external storage device of the computer device 3 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the computer device 3. Further, the memory 31 may also include both an internal storage unit and an external storage device of the computer device 3. The memory 31 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 31 may also be used to temporarily store data that has been output or is to be output.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in any of the method embodiments described above.
The embodiments of the present application provide a computer program product, which when executed on a computer device, enables the computer device to implement the steps in the above method embodiments.
In several embodiments provided herein, it will be understood that each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are further detailed to explain the objects, technical solutions and advantages of the present application, and it should be understood that the above-mentioned embodiments are only examples of the present application and are not intended to limit the scope of the present application. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the present application, may occur to those skilled in the art and are intended to be included within the scope of the present application.
Claims (10)
1. The simulation test system of the unmanned ship is characterized by comprising a virtual simulation subsystem, a controller and a ground station, wherein the virtual simulation subsystem comprises an environment construction module, an environment perception module and an unmanned ship control module;
the environment construction module is used for constructing a virtual unmanned ship model and a virtual navigation environment;
the environment sensing module is used for generating virtual scene data of the virtual unmanned ship model in the virtual navigation environment and transmitting the virtual scene data to the controller and the ground station;
the controller is used for performing simple task processing on the virtual scene data, generating a first control signal and transmitting the first control signal to the unmanned ship control module;
the ground station is used for performing complex task processing on the virtual scene data, generating a second control signal and transmitting the second control signal to the unmanned ship control module;
the unmanned ship control module is used for carrying out simulation test on the virtual unmanned ship model according to the first control signal and the second control signal.
2. The unmanned boat simulation test system of claim 1, wherein the environment construction module comprises:
an unmanned vehicle model configuration sub-module for configuring a motor of the virtual unmanned vehicle model, the motor being controllable by an unmanned vehicle control module;
and the navigation environment configuration submodule is used for configuring the water body and the map environment of the virtual navigation environment.
3. The unmanned boat simulation test system of claim 2, wherein the voyage environment configuration submodule comprises:
the hull buoyancy configuration unit is used for configuring buoyancy parameters of the hull according to the unmanned boat type of the unmanned boat model;
the drift interference configuration unit is used for configuring drift interference parameters of the water body on the unmanned ship model according to preset wave parameters;
and the map configuration unit is used for configuring the barrier parameters of the map environment according to the preset map environment type.
4. The unmanned boat simulation test system of claim 1, wherein the environmental awareness module comprises:
and the sensor submodule is used for sensing virtual scene data of the virtual unmanned ship model when the virtual navigation environment navigates, wherein the virtual scene data comprises visual sensor data, position sensor data, pose sensor data, distance sensor data, course angle sensor data and speed sensor data.
5. The unmanned boat simulation test system of claim 1, wherein the simulation test system further comprises:
the virtual TCP communication module is used for transmitting the virtual scene data to the controller in a TCP communication mode, analyzing the first control signal and the second control signal, and transmitting the analyzed first control signal and the analyzed second control signal to the unmanned ship control module.
6. The unmanned ship simulation test system of claim 1, wherein the controller is specifically configured to:
generating a first control parameter according to the virtual scene data, wherein the first control parameter comprises a course parameter and a speed parameter of the virtual unmanned ship model;
generating the first control parameter as the first control signal.
7. The simulated test system of the unmanned boat of claim 1, wherein the ground station is specifically configured to:
and performing task planning, behavior planning and/or motion planning on the virtual unmanned ship model according to the virtual scene data to obtain a second control parameter, and generating the second control parameter into the second control signal.
8. A simulation test method of an unmanned ship is characterized by comprising the following steps:
constructing a virtual unmanned ship model and a virtual navigation environment;
generating virtual scene data of the virtual unmanned ship model when the virtual navigation environment navigates, and transmitting the virtual scene data to a controller and a ground station;
receiving a first control signal generated by the controller performing simple task processing on the virtual scene data and a second control signal generated by the ground station performing complex task processing on the virtual scene data;
and carrying out simulation test on the virtual unmanned ship model according to the first control signal and the second control signal.
9. A computer arrangement comprising a processor and a memory for storing a computer program which, when executed by the processor, implements the method of simulation testing of an unmanned boat of claim 8.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the method of simulation testing of an unmanned boat according to claim 8.
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