CN114755705A - Real ship test method and system for navigation precision of unmanned ship - Google Patents
Real ship test method and system for navigation precision of unmanned ship Download PDFInfo
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- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides a real ship test method and a real ship test system for navigation precision of an unmanned ship, which comprise the following steps: step 1: laying, installing and fixing the test equipment, and calibrating the precision, the timestamp and the steering angle zero position of the test equipment; step 2: carrying out a test according to preset navigation paths and navigation parameters, and controlling optical tracking equipment to identify and track a target on the unmanned ship; and step 3: measuring and recording the navigation data of the unmanned ship by using the test equipment; and 4, step 4: and after all the voyage times are tested, taking a plurality of groups to compare and analyze the GPS track data under the same timestamp with the distance value measured by the distance measuring equipment, and finally obtaining the accurate voyage precision of the unmanned ship. The invention integrates the GPS and the optical measurement result, improves the test precision, and improves the test efficiency because the optical test equipment is not influenced by the GPS signal receiving quality.
Description
Technical Field
The invention relates to the technical field of unmanned ship test, in particular to a real ship test method and a real ship test system for unmanned ship navigation precision.
Background
Patent document CN112463617A (application number: CN202011401610.4) discloses a method for testing unmanned ship sailing task control software based on multiple simulators, which includes: simulating the motion state of the boat platform, operating according to the input states of the plurality of simulators, and feeding back the motion state containing motion characteristics to realize the test of the navigation control software; and simulating the equipment and target data on the boat to realize the test of the task control software.
At present, a real ship test aiming at navigation precision of an unmanned ship is developed based on the existing standard T/GDAQI038-2020 electric unmanned ship maneuverability test method, in the method, a satellite positioning device with positioning precision not more than 5m is required to be used for measuring and recording the real-time motion trail and navigation precision of the unmanned ship, the measurement precision depends on the satellite positioning device and the opening degree of the surrounding environment of an antenna, the higher the requirement on the measurement precision is, the higher the requirement on the precision of the satellite positioning device is, the higher the cost is, the phenomena of signal delay, interruption or larger data fluctuation and the like can occur if shelters appear around the antenna in the test process, the test voyage is required to be increased or the test time is required to obtain effective test data, and the whole test efficiency is influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a real ship test method and a real ship test system for the navigation precision of an unmanned ship.
The real ship test method for the navigation precision of the unmanned ship, provided by the invention, comprises the following steps:
step 1: laying, installing and fixing the test equipment, and calibrating the precision, the timestamp and the steering angle zero position of the test equipment;
and 2, step: carrying out a test according to preset navigation paths and navigation parameters, and controlling optical tracking equipment to identify and track a target on the unmanned ship;
and 3, step 3: measuring and recording the navigation data of the unmanned ship by using the test equipment, wherein the navigation data comprises a measurement recording timestamp, a distance value between the test equipment and a target, GPS track data, a rotating angle of a target holder, a rotating angle of optical tracking equipment and a video shot by a high-speed camera;
and 4, step 4: and after all the voyage times are tested, taking a plurality of groups to compare and analyze the GPS track data under the same timestamp with the distance value measured by the distance measuring equipment, and finally obtaining the accurate voyage precision of the unmanned ship.
Preferably, the step 1 comprises:
step 1.1: measuring the position coordinates of the test equipment;
step 1.2: measuring the relative position between the target installation position and the shipborne GPS antenna;
Step 1.3: and adjusting the height of the test equipment to a position consistent with the center height of the target material of the unmanned ship.
Preferably, the step 2 comprises:
for a circular route, planning the circular route according to the corresponding minimum turning radius at a preset speed by taking a coordinate point of the installation position of the measuring equipment as the center of a circle;
and for the linear air route, a linear air route perpendicular to the optical searchlighting equipment is arranged along the direction of the light irradiated by the optical searchlighting equipment, and the target material is replaced by the target material with the length equal to the chord length before the linear air route test.
Preferably, the step 3 comprises:
for a round route, driving an unmanned ship into a preset route, shooting and recording a test process through a high-speed camera in the whole process, ensuring that the direction of the unmanned ship is always perpendicular to a target material by using an optical tracking device and a self-stabilizing cradle head carried by the target material, ensuring that a target point of the unmanned ship falls within an effective range of the target material, irradiating the target material on the unmanned ship by using a distance measuring device to obtain a distance value between a measuring point and the unmanned ship, adding the distance value to the relative position of the target material and a GPS to obtain the track radius of the round route, acquiring and recording the distance data of the round route every preset period, and forming a navigation track according to a test result;
for a straight-line route, an unmanned ship approaches to a path irradiated by optical searchlighting equipment, an imaging state of light on a target is recorded through a high-speed camera, initial and final imaging timestamps and corresponding target holder rotating angles are recorded, a navigation precision error in a final chord length direction is obtained by combining a distance value between a GPS track coordinate and the irradiation path under the same timestamp, a distance value between a measuring point and the unmanned ship is recorded by using distance measuring equipment every preset period in the process that the unmanned ship vertically passes through the path irradiated by the searchlighting equipment, and the distance value is added with the relative position of the target and the GPS to obtain a route of the straight-line route.
Preferably, the navigation channel and the boundary marker are arranged according to the obtained navigation precision, the navigation precision verification test is performed again according to the navigation parameters set when the navigation precision is measured, if the unmanned ship collides with the boundary marker in the period, the precision of the unmanned ship is tested again, and if the unmanned ship does not collide with the boundary marker, the previous test result is proved to be effective.
The real ship test system for unmanned ship navigation precision provided by the invention comprises:
module M1: laying, installing and fixing the test equipment, and calibrating the precision, the timestamp and the steering angle zero position of the test equipment;
module M2: testing according to preset navigation paths and navigation parameters, and controlling optical tracking equipment to identify and track targets on the unmanned ship;
module M3: measuring and recording the navigation data of the unmanned ship by using the test equipment, wherein the navigation data comprises a measurement recording timestamp, a distance value between the test equipment and a target, GPS track data, a rotating angle of a target holder, a rotating angle of optical tracking equipment and a video shot by a high-speed camera;
module M4: and after all the voyage times are tested, taking a plurality of groups to compare and analyze the GPS track data under the same timestamp with the distance value measured by the distance measuring equipment, and finally obtaining the accurate voyage precision of the unmanned ship.
Preferably, the module M1 includes:
module M1.1: measuring the position coordinates of the test equipment;
module M1.2: measuring the relative position between the target installation position and the shipborne GPS antenna;
module M1.3: and adjusting the height of the test equipment to a position consistent with the center height of the target material of the unmanned ship.
Preferably, the module M2 includes:
for the circular route, planning the circular route according to the corresponding minimum turning radius at the preset speed by taking the coordinate point of the installation position of the measuring equipment as the circle center;
and for the linear air route, a linear air route perpendicular to the optical searchlighting equipment is arranged along the direction of the light irradiated by the optical searchlighting equipment, and the target material is replaced by the target material with the length equal to the chord length before the linear air route test.
Preferably, the module M3 includes:
for a round route, driving an unmanned ship into a preset route, shooting and recording a test process through a high-speed camera in the whole process, ensuring that the direction of the unmanned ship is always perpendicular to a target material by using an optical tracking device and a self-stabilizing cradle head carried by the target material, ensuring that a target point of the unmanned ship falls within an effective range of the target material, irradiating the target material on the unmanned ship by using a distance measuring device to obtain a distance value between a measuring point and the unmanned ship, adding the distance value to the relative position of the target material and a GPS to obtain the track radius of the round route, acquiring and recording the distance data of the round route every preset period, and forming a navigation track according to a test result;
For a straight-line route, an unmanned ship is driven to approach a path irradiated by optical searchlighting equipment, an imaging state of light on a target is recorded through a high-speed camera, initial and final imaging timestamps and corresponding target holder rotating angles are recorded, a navigation precision error in a final chord length direction is obtained by combining a distance value between a GPS track coordinate and the irradiation path under the same timestamp, meanwhile, a distance value between a measuring point and the unmanned ship is recorded by using distance measuring equipment every preset period in the process that the unmanned ship vertically passes through the path irradiated by the searchlighting equipment, and the distance value is added with the relative position of the target and the GPS to obtain a track of the straight-line route.
Preferably, the navigation channel and the boundary marker are arranged according to the obtained navigation precision, the navigation precision verification test is performed again according to the navigation parameters set when the navigation precision is measured, if the unmanned ship collides with the boundary marker in the period, the precision of the unmanned ship is tested again, and if the unmanned ship does not collide with the boundary marker, the previous test result is proved to be effective.
Compared with the prior art, the invention has the following beneficial effects:
the invention adds the high-precision optical test equipment with fixed position on the basis of GPS measurement to test the navigation precision of the device, integrates the GPS and the optical measurement result, improves the test precision, and improves the test efficiency because the optical test equipment is not influenced by the GPS signal receiving quality.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic layout of the test equipment of the present invention;
FIG. 3 is a schematic view of a circular course test protocol of the present invention;
FIG. 4 is a schematic view of a straight course test protocol of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
the invention provides a real ship test method for navigation precision of an unmanned ship, which has the specific design scheme as shown in figure 1:
1. laying, installing and fixing the test equipment
The equipment layout is as shown in fig. 2, firstly fixing a piece 1 (underwater foundation), then installing and fixing a piece 2 (lifting and rotating platform) and the piece 1 by a diver, then installing and fixing a piece 3 (optical tracking, ranging, searchlighting and high-speed camera integrated device) and the piece 2, and then installing a piece 4 (target material) to the outermost side of a side board of a piece 5 (unmanned ship). The linear equipment is arranged as shown in fig. 4, firstly fixing the piece 1 (underwater foundation), then installing and fixing the piece 2 (lifting and rotating platform) and the piece 1 by a diver, then installing and fixing the piece 3 (optical tracking and ranging integrated device) and the piece 2, and then installing the piece 4 (target material) to the outermost side of the side board of the piece 5 (unmanned ship). In the figure, 6 is a water line, and 7 is a light source ray.
2. Calibrating the precision, the timestamp, the steering angle zero position and the like of the test equipment;
1) measuring the position coordinates of the test equipment;
2) measuring the relative position between the target installation position and the shipborne GPS antenna;
3) and adjusting the height of the test equipment to be consistent with the center height of the target material of the unmanned ship.
3. Starting the test according to the formulated navigation parameters according to the prescribed navigation path;
1) round route
And planning a circular route according to the corresponding minimum turning radius at the preset speed by taking the coordinate point of the installation position of the measuring equipment as the circle center, as shown in fig. 3.
2) Straight line fairway
A straight route perpendicular to the optical searchlighting device is provided along the direction of the light irradiated by the optical searchlighting device, as shown in fig. 4. Before the straight line navigation path test, the target material needs to be replaced by the target material with the same length as the chord length.
4. Controlling an optical tracking device to identify and track the target on the unmanned ship;
5. measuring and recording the navigation data of the unmanned ship by using the test equipment;
1) round route
In this course test, all the modules of the part 3 in fig. 2 are first switched on. The unmanned ship is driven into a preset navigation path, the high-speed camera starts the whole shooting and recording test process, the optical tracking module and the self-stabilizing holder carried by the target material are utilized to ensure that the measurement direction is always vertical to the target material, and meanwhile, the target point of the unmanned ship can be ensured to fall within the effective range of the target material; irradiating a target material on the unmanned ship by using a ranging module to obtain a distance value between a measuring point and the unmanned ship, and adding the relative position of the target material and a GPS (global positioning system) to the distance value to obtain a track radius of the circular route; and acquiring and recording the interval data at regular intervals, and forming a navigation track according to the test result.
2) Straight line air route
In the course test, the piece 3 in fig. 2 needs to be set to a fixed mode, the optical tracking module is turned off, and the searchlighting module, the high-speed camera and the distance measuring module are turned on. The unmanned ship is driven to approach the path irradiated by the optical searchlighting module, the imaging state of light on a target is recorded through a high-speed camera, initial and final imaging timestamps and corresponding target holder rotating angles are recorded, and the navigation precision error in the final chord length direction can be obtained by combining the distance value between the GPS track coordinate and the irradiation path under the same timestamp; and simultaneously, recording a distance value between the measuring point and the unmanned ship by using a ranging module at regular intervals in the process that the unmanned ship vertically passes through an irradiation path of the searchlight equipment, and adding the relative position of the target and the GPS to the distance value to obtain the track of the straight-line route.
6. After all the voyage times are tested, comparing and analyzing the GPS track data under the same timestamp and the distance value measured by the distance measuring equipment by a plurality of groups, and finally obtaining the accurate voyage precision of the unmanned ship;
7. arranging a channel and boundary markers according to the obtained navigation precision;
and performing sailing precision verification test by using sailing parameters set when measuring sailing precision again, wherein if the unmanned ship collides with the boundary marker in the sailing precision verification test period, the precision of the unmanned ship needs to be tested again, and if the unmanned ship does not collide with the boundary marker, the previous test result is proved to be effective.
The real ship test system for unmanned ship navigation precision provided by the invention comprises: module M1: laying, installing and fixing the test equipment, and calibrating the precision, the timestamp and the steering angle zero position of the test equipment; module M2: carrying out a test according to preset navigation paths and navigation parameters, and controlling optical tracking equipment to identify and track a target on the unmanned ship; module M3: measuring and recording the navigation data of the unmanned ship by using the test equipment, wherein the navigation data comprises a measurement recording timestamp, a distance value between the test equipment and a target, GPS track data, a rotating angle of a target holder, a rotating angle of optical tracking equipment and a video shot by a high-speed camera; module M4: and after all the voyage times are tested, taking a plurality of groups to compare and analyze the GPS track data under the same timestamp with the distance value measured by the distance measuring equipment, and finally obtaining the accurate voyage precision of the unmanned ship.
The module M1 includes: module M1.1: measuring the position coordinates of the test equipment; module M1.2: measuring the relative position between the target installation position and the shipborne GPS antenna; module M1.3: and adjusting the height of the test equipment to be consistent with the center height of the target material of the unmanned ship. The module M2 includes: for a circular route, planning the circular route according to the corresponding minimum turning radius at a preset speed by taking a coordinate point of the installation position of the measuring equipment as the center of a circle; and for the linear air route, a linear air route perpendicular to the optical searchlighting equipment is arranged along the direction of the light irradiated by the optical searchlighting equipment, and the target material is replaced by the target material with the length equal to the chord length before the linear air route test. The module M3 includes: for a round route, driving an unmanned ship into a preset route, shooting and recording a test process through a high-speed camera in the whole process, ensuring that the direction of the unmanned ship is always perpendicular to a target material by using an optical tracking device and a self-stabilizing cradle head carried by the target material, ensuring that a target point of the unmanned ship falls within an effective range of the target material, irradiating the target material on the unmanned ship by using a distance measuring device to obtain a distance value between a measuring point and the unmanned ship, adding the distance value to the relative position of the target material and a GPS to obtain the track radius of the round route, acquiring and recording the distance data of the round route every preset period, and forming a navigation track according to a test result; for a straight-line route, an unmanned ship approaches to a path irradiated by optical searchlighting equipment, an imaging state of light on a target is recorded through a high-speed camera, initial and final imaging timestamps and corresponding target holder rotating angles are recorded, a navigation precision error in a final chord length direction is obtained by combining a distance value between a GPS track coordinate and the irradiation path under the same timestamp, a distance value between a measuring point and the unmanned ship is recorded by using distance measuring equipment every preset period in the process that the unmanned ship vertically passes through the path irradiated by the searchlighting equipment, and the distance value is added with the relative position of the target and the GPS to obtain a route of the straight-line route. And arranging a channel and a boundary marker according to the obtained navigation precision, and performing a navigation precision verification test by using navigation parameters set when the navigation precision is measured again, wherein if the unmanned ship collides with the boundary marker in the period, the precision of the unmanned ship is tested again, and if the unmanned ship does not collide with the boundary marker, the previous test result is proved to be effective.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.
It is known to those skilled in the art that, in addition to implementing the system, apparatus and its various modules provided by the present invention in pure computer readable program code, the system, apparatus and its various modules provided by the present invention can be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like by completely programming the method steps. Therefore, the system, the apparatus, and the modules thereof provided by the present invention may be considered as a hardware component, and the modules included in the system, the apparatus, and the modules for implementing various programs may also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A real ship test method for navigation accuracy of an unmanned ship is characterized by comprising the following steps:
step 1: laying, installing and fixing the test equipment, and calibrating the precision, the timestamp and the steering angle zero position of the test equipment;
and 2, step: carrying out a test according to preset navigation paths and navigation parameters, and controlling optical tracking equipment to identify and track a target on the unmanned ship;
and 3, step 3: measuring and recording the navigation data of the unmanned ship by using the test equipment, wherein the navigation data comprises a measurement recording timestamp, a distance value between the test equipment and a target, GPS track data, a rotating angle of a target holder, a rotating angle of optical tracking equipment and a video shot by a high-speed camera;
and 4, step 4: and after all the voyage times are tested, taking a plurality of groups to compare and analyze the GPS track data under the same timestamp with the distance value measured by the distance measuring equipment, and finally obtaining the accurate voyage precision of the unmanned ship.
2. The real ship test method for unmanned ship navigation accuracy according to claim 1, wherein the step 1 comprises:
step 1.1: measuring the position coordinates of the test equipment;
step 1.2: measuring the relative position between the target installation position and the shipborne GPS antenna;
step 1.3: and adjusting the height of the test equipment to a position consistent with the center height of the target material of the unmanned ship.
3. The real ship test method for unmanned ship navigation accuracy according to claim 1, wherein the step 2 comprises:
for the circular route, planning the circular route according to the corresponding minimum turning radius at the preset speed by taking the coordinate point of the installation position of the measuring equipment as the circle center;
and for the linear air route, arranging a linear air route vertical to the optical searchlighting equipment along the direction of the light irradiated by the optical searchlighting equipment, and replacing the target material with the length equal to the chord length before the linear air route test.
4. The real ship test method for unmanned ship navigation accuracy according to claim 3, wherein the step 3 comprises:
for a round route, driving an unmanned ship into a preset route, shooting and recording a test process through a high-speed camera in the whole process, ensuring that the direction of the unmanned ship is always perpendicular to a target material by using an optical tracking device and a self-stabilizing cradle head carried by the target material, ensuring that a target point of the unmanned ship falls within an effective range of the target material, irradiating the target material on the unmanned ship by using a distance measuring device to obtain a distance value between a measuring point and the unmanned ship, adding the distance value to the relative position of the target material and a GPS to obtain the track radius of the round route, acquiring and recording the distance data of the round route every preset period, and forming a navigation track according to a test result;
For a straight-line route, an unmanned ship is driven to approach a path irradiated by optical searchlighting equipment, an imaging state of light on a target is recorded through a high-speed camera, initial and final imaging timestamps and corresponding target holder rotating angles are recorded, a navigation precision error in a final chord length direction is obtained by combining a distance value between a GPS track coordinate and the irradiation path under the same timestamp, meanwhile, a distance value between a measuring point and the unmanned ship is recorded by using distance measuring equipment every preset period in the process that the unmanned ship vertically passes through the path irradiated by the searchlighting equipment, and the distance value is added with the relative position of the target and the GPS to obtain a track of the straight-line route.
5. The unmanned ship voyage accuracy real ship test method according to claim 1, wherein a navigation channel and a boundary marker are arranged according to the obtained voyage accuracy, a voyage accuracy verification test is performed again with the voyage parameters set when the voyage accuracy is measured, during the period, if the unmanned ship collides with the boundary marker, the accuracy is tested again, and if the unmanned ship does not collide with the boundary marker, the previous test result is proved to be valid.
6. The utility model provides a real ship test system of unmanned boats and ships navigation precision which characterized in that includes:
Module M1: laying, installing and fixing the test equipment, and calibrating the precision, the timestamp and the steering angle zero position of the test equipment;
module M2: carrying out a test according to preset navigation paths and navigation parameters, and controlling optical tracking equipment to identify and track a target on the unmanned ship;
module M3: measuring and recording the navigation data of the unmanned ship by using the test equipment, wherein the navigation data comprises a measurement recording timestamp, a distance value between the test equipment and a target, GPS track data, a rotating angle of a target holder, a rotating angle of optical tracking equipment and a video shot by a high-speed camera;
module M4: and after all the voyage times are tested, taking a plurality of groups to compare and analyze the GPS track data under the same timestamp with the distance value measured by the distance measuring equipment, and finally obtaining the accurate voyage precision of the unmanned ship.
7. The real ship sailing accuracy testing system for unmanned ships according to claim 6, wherein said module M1 includes:
module M1.1: measuring the position coordinates of the test equipment;
module M1.2: measuring the relative position between the target installation position and the shipborne GPS antenna;
module M1.3: and adjusting the height of the test equipment to be consistent with the center height of the target material of the unmanned ship.
8. The real ship sailing accuracy testing system for unmanned ships according to claim 6, wherein said module M2 includes:
for a circular route, planning the circular route according to the corresponding minimum turning radius at a preset speed by taking a coordinate point of the installation position of the measuring equipment as the center of a circle;
and for the linear air route, a linear air route perpendicular to the optical searchlighting equipment is arranged along the direction of the light irradiated by the optical searchlighting equipment, and the target material is replaced by the target material with the length equal to the chord length before the linear air route test.
9. The real ship sailing accuracy testing system for unmanned ships according to claim 8, wherein said module M3 includes:
for a round route, driving an unmanned ship into a preset route, shooting and recording a test process through a high-speed camera in the whole process, ensuring that the direction of the unmanned ship is always perpendicular to a target material by using an optical tracking device and a self-stabilizing cradle head carried by the target material, ensuring that a target point of the unmanned ship falls within an effective range of the target material, irradiating the target material on the unmanned ship by using a distance measuring device to obtain a distance value between a measuring point and the unmanned ship, adding the distance value to the relative position of the target material and a GPS to obtain the track radius of the round route, acquiring and recording the distance data of the round route every preset period, and forming a navigation track according to a test result;
For a straight-line route, an unmanned ship approaches to a path irradiated by optical searchlighting equipment, an imaging state of light on a target is recorded through a high-speed camera, initial and final imaging timestamps and corresponding target holder rotating angles are recorded, a navigation precision error in a final chord length direction is obtained by combining a distance value between a GPS track coordinate and the irradiation path under the same timestamp, a distance value between a measuring point and the unmanned ship is recorded by using distance measuring equipment every preset period in the process that the unmanned ship vertically passes through the path irradiated by the searchlighting equipment, and the distance value is added with the relative position of the target and the GPS to obtain a route of the straight-line route.
10. The actual ship test system for unmanned ship navigation accuracy according to claim 6, wherein a navigation channel and boundary markers are arranged according to the obtained navigation accuracy, and a navigation accuracy verification test is performed again using navigation parameters set when the navigation accuracy is measured, during which the accuracy of the unmanned ship is tested again if the unmanned ship collides with the boundary markers, and if the unmanned ship does not collide with the boundary markers, the previous test result is proved to be valid.
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| CN202210270633.9A CN114755705B (en) | 2022-03-18 | 2022-03-18 | Unmanned ship navigation precision real ship testing method and system |
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| CN202210270633.9A CN114755705B (en) | 2022-03-18 | 2022-03-18 | Unmanned ship navigation precision real ship testing method and system |
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