CN114692520A - Multi-scene-oriented unmanned ship virtual simulation test platform and test method - Google Patents
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Abstract
The invention discloses a multi-scene-oriented unmanned ship virtual simulation test platform and a test method, wherein the test platform comprises a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module; the test method comprises the steps of setting sea condition grades and test items; generating a tested ocean test scene and a related scene, and arranging a tested virtual unmanned ship in the scene; acquiring sensing information by a virtual sensor, and inputting the information into a control terminal of an actual unmanned ship; the control terminal completes the analysis of the sensing data to obtain a control instruction, and the control instruction is transmitted back to the virtual test platform to realize navigation control on the virtual unmanned ship; and after the navigation is finished, recording navigation data and generating an evaluation result. The unmanned ship autonomous navigation performance testing method can effectively improve the autonomous navigation performance testing effect of the unmanned ship, reduce the testing time and reduce the testing cost.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a multi-scene-oriented unmanned ship virtual simulation test platform and a test method.
Background
Unmanned surface vessels play an increasing role in commercial, scientific and military applications, and are now widely used in maritime patrol, environmental monitoring, underwater mapping and marine research. The autonomous navigation system needs to be trained and verified before formal deployment and operation, so as to ensure the stability of the product. Although the real ship test can truly reflect various performances of the unmanned ship, the consumed manpower and material resources are too high, and the real ship test is generally used as a verification means of the last step of the development process. In order to improve the testing efficiency and reduce the testing cost, a testing means adopting virtual simulation before actual testing is a necessary flow in development.
However, different from other unmanned systems, the ocean environment is complex and variable, and the difficulty in constructing the unmanned ship virtual test field is greatly increased. The virtual test field of the existing unmanned ship mainly has two defects: on one hand, the existing virtual test field of the unmanned ship generally adopts a test method of unmanned equipment on the land, only simulates the motion on a two-dimensional plane, and rarely considers the influence of the marine environment on the unmanned ship, which is far away from the actual complex navigation situation. From the theory of fluid dynamics, the method for solving the flow field by adopting a numerical method can better reflect actual sea waves and obtain a prepared calculation result, but the calculation amount is too large, and a single test project may require several days of calculation time, which is contrary to the original purpose of quick and low-cost test. On the other hand, the test items are relatively single and simple. The existing test platform usually only supports performance detection on one aspect of the unmanned ship, is independent and single in detection and does not have integrity. The unmanned ship is used as an autonomous navigation carrier, and the test is required from a hardware base to a control algorithm, and then to an image recognition algorithm, a path planning algorithm and the like. If the block is detected, the integrity of the system is ignored. Meanwhile, the test items are too simple, and the performance test of the unmanned ship in various scenes cannot be realized.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides a multi-scenario-oriented unmanned ship virtual simulation test platform and a test method. In order to solve the problems of the existing unmanned ship performance test, the invention designs a multi-scene-oriented unmanned ship virtual simulation test platform, and realizes multi-scene, multi-project and integrated performance test of the unmanned ship in a sea wave environment. The unmanned ship autonomous navigation performance testing method can effectively improve the autonomous navigation performance testing effect of the unmanned ship, reduce the testing time and reduce the testing cost.
The invention adopts the following technical scheme:
a multi-scene oriented unmanned ship virtual simulation test platform comprises a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module;
the marine environment simulation module: the wave scene is constructed by combining the Gerstner wave describing the wave shape and a Bretschneider double-parameter spectrum obtained according to the actual wave measurement result, the scene characteristics are further determined according to the sea condition parameters, the test environment parameters and the illumination parameters, and an ocean test scene is generated;
the test evaluation module: saving the navigation data of the unmanned ship after each test item is finished, and evaluating the autonomous navigation performance of the unmanned ship according to the evaluation standard of the test item;
the dynamic simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model, obtains the motion state of the unmanned ship through the model, and simultaneously realizes synchronization with an ocean scene;
the autonomous navigation interaction module: and the control terminal is used for transmitting the sensor signals obtained by the sensor simulation module to the unmanned ship, obtaining a control instruction according to the signals, transmitting the control instruction back to the unmanned ship virtual test platform in real time, controlling the virtual unmanned ship to move in a generated ocean test scene corresponding to the unmanned ship navigation scene, obtaining the motion state of the unmanned ship and evaluating the motion state.
Further, the evaluation criterion adopts a hierarchical evaluation.
Further, the hierarchical evaluation specifically includes: determining different test levels according to different sea conditions, dividing different evaluation items into different evaluation elements according to the same test level, determining the evaluation index weight occupied by each evaluation element in the layer by an analytic hierarchy process, scoring according to the ratio of test data to ideal data by a cost function process, and finally evaluating the performance of the unmanned ship in the round of test according to the score.
Furthermore, the unmanned surface vehicle plane motion model is used for solving and calculating the motion of the unmanned surface vehicle in three degrees of freedom in the horizontal plane, and the buoyancy calculation model is used for calculating the motion of the unmanned surface vehicle in three degrees of freedom of rolling, pitching and heaving to reflect the motion state of the unmanned surface vehicle.
Further, the unmanned surface vehicle plane motion model is used for solving and calculating the motion of the unmanned surface vehicle in three degrees of freedom in the horizontal plane, specifically, on the basis of an MMG (mass mobility generator) manipulation motion equation, the influence of propeller thrust, wind power, wave force and fluid power of the unmanned surface vehicle on the motion of the unmanned surface vehicle in the plane is comprehensively considered, the hulls of different unmanned surface vehicles are realized by modifying the coefficient of the MMG manipulation motion equation, and the coefficient of the MMG manipulation motion equation is obtained through numerical simulation.
Further, the buoyancy calculation model calculates the motions of the unmanned ship in three degrees of freedom, namely roll, pitch and heave, and reflects the motion state of the unmanned ship, and specifically comprises the following steps:
the unmanned ship model is subdivided into a plurality of geometric subsections along a water plane, the immersion volume of each part is determined according to the distance from the midpoint of the geometric solid of each subsection to the wave surface of sea waves, the buoyancy force borne by each part is calculated, and the stress action of each part and the gravity center of the unmanned ship cause the heaving and shaking motion of the unmanned ship.
Further, the sensor simulation module obtains GPS navigation data, a camera, radar data, speed, wind direction, acceleration, and angular velocity.
Further, the sea condition parameters comprise the average direction of sea waves, the average wave height of the sea waves, the average flow velocity of the sea waves, the average gradient of the sea waves, the average direction of sea wind and the average flow velocity of the sea wind;
the illumination parameters comprise illumination intensity and water mist concentration.
Further, the unmanned ship is tested on four items, namely static obstacle avoidance, dynamic obstacle avoidance, pose keeping and path tracking.
A test method of an unmanned ship virtual simulation test platform comprises the following steps:
setting sea condition grades and test items;
generating a tested ocean test scene and a related scene, and arranging a tested virtual unmanned ship in the scene;
acquiring sensing information by a virtual sensor, and inputting the information into a control terminal of an actual unmanned ship;
the control terminal completes the analysis of the sensing data to obtain a control instruction, and the control instruction is transmitted back to the virtual test platform to realize navigation control on the virtual unmanned ship;
and after the navigation is finished, recording navigation data and generating an evaluation result.
The invention has the beneficial effects that:
the invention realizes the multi-scene, multi-project and integrated performance test of the unmanned ship in the sea wave environment. The unmanned ship autonomous navigation performance testing method can effectively improve the autonomous navigation performance testing effect of the unmanned ship, reduce the testing time and reduce the testing cost.
Drawings
FIG. 1 is an overall framework of the invention;
FIG. 2 is a flow chart of a marine environment simulation module generating a marine test scenario in accordance with the present invention;
FIG. 3 is a schematic view of a virtual unmanned boat and a virtual ocean scene of the present invention;
FIG. 4 is a schematic flow diagram of a dynamics simulation module of the present invention;
FIG. 5 is a schematic flow diagram of a test evaluation module of the present invention;
FIG. 6 is a schematic view of a virtual simulation test flow according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited to these examples.
Examples
As shown in fig. 1, the unmanned ship virtual simulation test platform oriented to multiple scenes mainly comprises five components, specifically comprises a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module.
The marine environment simulation module: the wave scene is constructed by combining the Gerstner wave describing the wave shape and a Bretschneider double-parameter spectrum obtained according to the actual wave measurement result, the scene characteristics are further determined according to the sea condition parameters, the test environment parameters and the illumination parameters, and an ocean test scene is generated;
the test evaluation module: saving the navigation data of the unmanned ship after each test item is finished, and evaluating the autonomous navigation performance of the unmanned ship according to the evaluation standard of the test item;
the dynamic simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model, obtains the motion state of the unmanned ship through the model, and simultaneously realizes synchronization with an ocean scene;
the autonomous navigation interaction module: and the control terminal is used for transmitting the sensor signals obtained by the sensor simulation module to the unmanned ship, obtaining a control instruction according to the signals, transmitting the control instruction back to the unmanned ship virtual test platform in real time, controlling the virtual unmanned ship to move in a generated ocean test scene corresponding to the unmanned ship navigation scene, obtaining the motion state of the unmanned ship and evaluating the motion state.
Referring to fig. 2 and 3, a schematic diagram of unmanned ship virtual ocean test environment generation and a virtual unmanned ship and ocean scene diagram are shown. The sea condition parameter setting comprises setting of six parameters, specifically: the average direction of the sea waves, the average wave height of the sea waves, the average flow velocity of the sea waves, the average steepness of the sea waves, the average direction of the sea wind and the average flow velocity of the sea wind. The illumination parameter setting is used for controlling the visual field condition in a scene and testing the performance of the unmanned ship under different visibility conditions, and specifically comprises the illumination intensity and the water mist concentration. The test environment parameter setting specifically refers to setting corresponding test items, including tests of the unmanned ship on four items, specifically static obstacle avoidance, dynamic obstacle avoidance, pose maintenance and path tracking. And confirming the characteristics of the test scene through sea condition parameter setting, test environment setting and illumination parameter testing, and generating a corresponding unmanned ship virtual ocean test environment.
Referring to fig. 4, a schematic diagram of a power simulation module of the unmanned ship virtual simulation platform and a CFD numerical solution calculation chart of the unmanned ship are shown. The dynamic simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model. And taking the ship body coordinate system as the motion coordinate system of the unmanned ship and expressing the motion coordinate system by a symbol O-xyz. The motion of the unmanned ship can be decomposed in six directions, namely surging, swaying, heaving, rolling, pitching and yawing. Motion modeling and calculation under six degrees of freedom are relatively complex, undetermined coefficients are more, synchronization with ocean pictures is difficult, and power calculation of the unmanned ship needs to be correspondingly simplified. The unmanned ship plane motion model is used for realizing calculation control on the motion of the unmanned ship in a plane, and the buoyancy calculation model is used for controlling the heaving and shaking motion of the unmanned ship. The plane motion model of the unmanned ship comprehensively considers the influence of propeller thrust, wind power, wave force and fluid power of the unmanned ship on the motion of the unmanned ship in a plane on the basis of an MMG (mass-modulated generator) operation motion equation. And the coefficients in the formula are modified to adapt to the hulls of different unmanned boats. The coefficients in the formula are obtained by numerical simulation solving and test measurement methods. Firstly, establishing a CFD three-dimensional numerical calculation pool; selecting several groups of representative working conditions for numerical calculation and solving according to wind power, wave drift force and fluid power; regression analysis and interpolation calculation are performed on the numerical calculation results to determine corresponding coefficients in the mathematical model. And aiming at the propeller thrust of the unmanned ship, a mooring test method is adopted, and the related coefficient is determined according to the test result. The specific flow of the calculation of the buoyancy calculation model is as follows: the unmanned boat model is first subdivided along the water plane into several geometric subsections. And determining the immersion volume of each part according to the distance from the midpoint of the geometrical body of each sub-part to the wave surface of the sea wave, thereby calculating the buoyancy force suffered by each part. And finally, the stress of each part is acted on the gravity center of the unmanned boat to cause the heaving and shaking motions of the unmanned boat.
Referring to fig. 5, a schematic diagram of a test evaluation module of the unmanned ship virtual simulation platform is shown, and a hierarchical evaluation method is adopted. Firstly, sea state grade matching is carried out according to the set parameters of the ocean scene, and four grades of sea state grades from 1 grade to 4 grade are shown in the schematic diagram. The method for matching the test items according to the set test items comprises the following steps: static obstacle avoidance, dynamic obstacle avoidance, trajectory tracking and attitude keeping. And then, determining the corresponding test element according to the matched test item. The static obstacle avoidance and the dynamic obstacle avoidance test elements comprise: the reaction distance, the regression distance and the obstacle avoidance time of the unmanned ship. The test elements under trajectory tracking include: maximum offset, average offset, tracking time. The test elements under attitude hold include: maximum positional deviation, average positional deviation, maximum tilt angle, average tilt angle. And determining different test grades according to different sea conditions, and dividing different evaluation items under the same test grade into different evaluation elements. And determining the evaluation index weight occupied by each evaluation element in the layer by an analytic hierarchy process. And (4) scoring according to the ratio of the test data to the ideal data by adopting a cost function method. Finally, the performance of the unmanned boat in the round of testing was evaluated according to the scores.
Referring to fig. 6, a schematic diagram of a virtual simulation test flow of the unmanned ship is shown. Firstly, a marine environment is set through a marine environment module and a test item is selected. And then generating a scene related to the tested marine environment and the test project, arranging the tested virtual unmanned ship in the scene, and then starting the test. The tested virtual unmanned ship is modeled by an actual unmanned ship in equal proportion, and a control circuit and control logic of the virtual unmanned ship are completely consistent with those of the actual unmanned ship. The sensor simulation module is provided with a basic sensor template, simulates the work of various sensors on the unmanned ship by setting a noise function, output information and sensor output power according to actual sensors on the unmanned ship to be tested, and issues sensor information in real time. And the sensor information is sent to a control terminal of the actual unmanned ship in real time through a network serial port. And the control terminal of the unmanned ship completes corresponding data analysis, and then the control instruction obtained by calculation of the control terminal is sent back to the virtual test platform through the network port again and acts on a control motor of the virtual unmanned ship to realize navigation control of the virtual unmanned ship. And after the navigation is finished, recording navigation data by the test evaluation module, generating an evaluation result and finishing the test.
The above-mentioned embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are intended to be included in the scope of the present invention.
Claims (10)
1. A multi-scene oriented unmanned ship virtual simulation test platform is characterized by comprising a marine environment simulation module, a test evaluation module, a dynamics simulation module, a sensor simulation module and an autonomous navigation interaction module;
the marine environment simulation module: the wave scene is constructed by combining the Gerstner wave describing the wave shape and a Bretschneider double-parameter spectrum obtained according to the actual wave measurement result, the scene characteristics are further determined according to the sea condition parameters, the test environment parameters and the illumination parameters, and an ocean test scene is generated;
the test evaluation module: saving the navigation data of the unmanned ship after each test item is finished, and evaluating the autonomous navigation performance of the unmanned ship according to the evaluation standard of the test item;
the dynamic simulation module comprises an unmanned ship plane motion model and a buoyancy calculation model, obtains the motion state of the unmanned ship through the model, and simultaneously realizes synchronization with an ocean scene;
the autonomous navigation interaction module: and the control terminal is used for transmitting the sensor signals obtained by the sensor simulation module to the unmanned ship, obtaining a control instruction according to the signals, transmitting the control instruction back to the unmanned ship virtual test platform in real time, controlling the virtual unmanned ship to move in a generated ocean test scene corresponding to the unmanned ship navigation scene, obtaining the motion state of the unmanned ship and evaluating the motion state.
2. The unmanned boat virtual simulation test platform of claim 1, wherein the evaluation criteria employs a hierarchical evaluation.
3. The unmanned surface vehicle virtual simulation test platform of claim 2, wherein the hierarchical evaluation is specifically: determining different test levels according to different sea conditions, dividing different evaluation items into different evaluation elements according to the same test level, determining the evaluation index weight occupied by each evaluation element in the layer by an analytic hierarchy process, scoring according to the ratio of test data to ideal data by a cost function process, and finally evaluating the performance of the unmanned ship in the round of test according to the score.
4. The unmanned ship virtual simulation test platform of claim 1, wherein the unmanned ship plane motion model is used for solving and calculating the motion of the unmanned ship in three degrees of freedom in a horizontal plane, and the buoyancy calculation model is used for calculating the motion of the unmanned ship in three degrees of freedom of rolling, pitching and heaving to reflect the motion state of the unmanned ship.
5. The unmanned ship virtual simulation test platform of claim 4, wherein the unmanned ship plane motion model is used for solving and calculating motion of the unmanned ship in three degrees of freedom in a horizontal plane, specifically, on the basis of an MMG (MMG) manipulation motion equation, the influence of propeller thrust, wind power, wave power and fluid power of the unmanned ship on the motion of the unmanned ship in the plane is comprehensively considered, hulls of different unmanned ships are realized by modifying coefficients of the MMG manipulation motion equation, and the coefficients of the MMG manipulation motion equation are obtained through numerical simulation.
6. The unmanned ship virtual simulation test platform of claim 5, wherein the buoyancy calculation model calculates the motions of the unmanned ship in three degrees of freedom, namely roll, pitch and heave, and reflects the motion state of the unmanned ship, and specifically comprises:
the unmanned ship model is subdivided into a plurality of geometric subsections along a water plane, the immersion volume of each part is determined according to the distance from the midpoint of the geometric solid of each subsection to the wave surface of sea waves, the buoyancy force borne by each part is calculated, and the stress action of each part and the gravity center of the unmanned ship cause the heaving and shaking motion of the unmanned ship.
7. The unmanned boat virtual simulation test platform of claim 1, wherein the sensor simulation module obtains GPS navigation data, camera, radar data, velocity, wind speed, wind direction, acceleration, and angular velocity.
8. The unmanned boat virtual simulation test platform of any one of claims 1-7, wherein the sea condition parameters comprise a sea wave mean direction, a sea wave mean wave height, a sea wave mean flow velocity, a sea wave mean steepness, a sea wind mean direction, and a sea wind mean flow velocity;
the illumination parameters comprise illumination intensity and water mist concentration.
9. The unmanned ship virtual simulation test platform of claim 1, wherein the unmanned ship performs tests on four items, specifically static obstacle avoidance, dynamic obstacle avoidance, pose maintenance, and path tracking.
10. The test method for the unmanned ship virtual simulation test platform according to any one of claims 1 to 9, comprising:
setting sea condition grades and test items;
generating a tested ocean test scene and a related scene, and arranging a tested virtual unmanned ship in the scene;
acquiring sensing information by a virtual sensor, and inputting the information into a control terminal of an actual unmanned ship;
the control terminal completes the analysis of the sensing data to obtain a control instruction, and the control instruction is transmitted back to the virtual test platform to realize navigation control on the virtual unmanned ship;
and after the navigation is finished, recording navigation data and generating an evaluation result.
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