CN115130202B - Unmanned ship navigation simulation method and system - Google Patents
Unmanned ship navigation simulation method and system Download PDFInfo
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Abstract
The embodiment of the invention provides a simulation method and a simulation system for navigation of an unmanned ship. The method comprises the following steps: the method comprises the steps of obtaining first position information, first navigation parameter information and preset target position information of the unmanned ship, calculating second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, calculating the second navigation parameter information by using an analog simulation processor according to the second position information and the preset target position information, taking the second position information and the second navigation parameter information as the first position information and the first navigation parameter information, repeating the steps until a characteristic position is coincident with a preset destination, and obtaining a simulated navigation track of the unmanned ship. The system is used for executing the method. The method and the system provided by the invention effectively reduce the debugging cost and shorten the test period.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned boats, in particular to an unmanned boat navigation simulation method and system.
Background
The unmanned surface vessel has autonomous navigation and path planning capabilities, can carry different task loads, and can complete set tasks. The system has the advantages of high navigational speed, intellectualization, strong maneuverability, no control of personnel and the like, and is widely applied to tasks such as ocean space resource detection, seabed surveying and mapping, emergency rescue, information collection, anti-submarine anti-mine and the like. Unmanned surface vehicle is divided into military use and civilian use according to the usage, and unmanned surface vehicle wide application in the field of military use is gathered in marine information reconnaissance: patrolling the sea area of one party, and timely finding and returning detailed information of the external ships; anti-submarine anti-mine: detecting threat targets such as underwater mines and the like by using sonar; striking on the sea: striking a target through a weapon carried on the unmanned boat; rescue at sea: and carrying out evidence obtaining rescue on the dangerous sea area.
The unmanned ship is widely applied in the military and civil fields, has outstanding advantages in the aspects of executing tasks such as reconnaissance, meteorological detection, hydrological measurement and the like, has new use scenes in the future, and is of great importance in the application of the unmanned ship on how to verify the applicability of the unmanned ship in the new scenes in a short time. Research in the field of unmanned surface vehicles is being paid more and more attention by countries and institutions, and the offshore debugging process of unmanned surface vehicles is influenced by factors such as sea condition and the like, so that the unmanned surface vehicle is high in cost, high in difficulty and long in time consumption. The debugging cost can be effectively reduced, the test period is shortened, and the method is important for quickly realizing economic benefit and putting into use.
Therefore, it is an important issue to be solved urgently in the industry to provide an artificial simulation method for unmanned ship navigation to reduce the debugging cost and shorten the test period.
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the invention provides a simulation method and a simulation system for navigation of an unmanned ship.
In one aspect, an embodiment of the present invention provides an unmanned ship navigation simulation method, including:
s1, acquiring first position information, first navigation parameter information and preset target position information of an unmanned ship; the first position information is information of the current position of the unmanned ship, and the first navigation parameter information is current navigation parameter information of the unmanned ship;
s2, calculating second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, and feeding the second position information back to the simulation processor; the second position information is position information of a characteristic position which is reached after the unmanned ship sails from the current position according to the first sailing parameter information for a preset time period;
s3, calculating second navigation parameter information by the simulation processor according to the second position information and the preset target position information; the second navigation parameter information is navigation parameter information of the unmanned ship starting from the characteristic position;
s4, judging whether the characteristic position is overlapped with a preset destination or not, if so, executing a step S6, and otherwise, executing a step S5;
s5, taking the second position information and the second navigation parameter information as the first position information and the first navigation parameter information, and repeating the steps S2-S4;
and S6, acquiring a simulated navigation track of the unmanned ship.
On the other hand, an embodiment of the present invention provides an unmanned ship navigation simulation system, including:
the first acquisition module is used for acquiring first position information, first navigation parameter information and preset target position information of the unmanned ship; the first position information is information of the current position of the unmanned ship, and the first navigation parameter information is current navigation parameter information of the unmanned ship;
the processing module is used for calculating second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, and feeding the second position information back to the simulation processor; the second position information is the position information of a characteristic position which is reached after the unmanned ship sails from the current position according to the first sailing parameter information for a preset time period;
the simulation processor is used for calculating second navigation parameter information according to the second position information and the preset target position information; the second navigation parameter information is navigation parameter information of the unmanned ship starting from the characteristic position;
the judging module is used for judging whether the characteristic position is superposed with a preset destination or not;
and the second acquisition module is used for acquiring the simulated sailing track of the unmanned ship.
According to the unmanned ship navigation simulation method and system provided by the embodiment of the invention, the second position information of the unmanned ship is calculated according to the first position information, the first navigation parameter information and the preset unmanned ship motion model by acquiring the first position information, the first navigation parameter information and the preset target position information of the unmanned ship, the simulation processor calculates the second navigation parameter information according to the second position information and the preset target position information, then the second position information and the second navigation parameter information are used as the first position information and the first navigation parameter information, the steps are repeated until the characteristic position is coincident with the preset destination, the simulated navigation track of the unmanned ship is acquired, the debugging cost is effectively reduced, and the test period is shortened.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an unmanned ship navigation simulation method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a simulated navigation track of unmanned ship navigation provided by an embodiment of the invention;
fig. 3 is a schematic structural diagram of an unmanned ship navigation simulation system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. 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 invention.
Fig. 1 is a schematic flow diagram of an unmanned ship navigation simulation method according to an embodiment of the present invention, and as shown in fig. 1, the embodiment provides an unmanned ship navigation simulation method, including:
s1, acquiring first position information, first navigation parameter information and preset target position information of an unmanned ship; the first position information is position information of the current position of the unmanned ship, and the first navigation parameter information is current navigation parameter information of the unmanned ship;
specifically, a first obtaining module obtains first position information, first navigation parameter information and preset target position information of the unmanned ship; the first position information is position information of the current position of the unmanned ship, and the first navigation parameter information is current navigation parameter information of the unmanned ship. It can be understood that the first location information and the preset target location information may include longitude information and latitude information, and may also include other parameter information that may be used to represent a location, and may be specifically set and adjusted according to an actual situation, which is not specifically limited herein; similarly, the navigation parameter information may include a navigation speed and a heading angle, and may also include other parameter information used for indicating a navigation condition, and the parameter information may be specifically set and adjusted according to an actual condition, which is not specifically limited herein.
S2, calculating second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, and feeding the second position information back to the simulation processor; the second position information is position information of a characteristic position which is reached after the unmanned ship sails from the current position according to the first sailing parameter information for a preset time period;
specifically, the processing module calculates second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, and feeds the second position information back to the simulation processor; and the second position information is the position information of the characteristic position which is reached after the unmanned ship sails from the current position according to the first sailing parameter information within a preset time period. Similarly, the second location information may also include longitude information and latitude information, and may also include other parameter information that may be used to indicate a location, and may be specifically set and adjusted according to an actual situation, which is not specifically limited herein.
S3, calculating second navigation parameter information by the simulation processor according to the second position information and the preset target position information; the second navigation parameter information is navigation parameter information of the unmanned ship starting from the characteristic position;
specifically, the simulation processor calculates second navigation parameter information according to the second position information and the preset target position information; and the second navigation parameter information is navigation parameter information of the unmanned ship starting from the characteristic position. It should be noted that a preset navigation route is planned before the unmanned ship starts, the preset navigation route includes a plurality of route marking points, and a next route marking point adjacent to the characteristic position may be used as the preset target position. The second navigation parameter information may include a navigation speed and a heading angle, and may also include other parameter information used for indicating a navigation condition, and may be specifically set and adjusted according to an actual condition, which is not specifically limited herein.
S4, judging whether the characteristic position is overlapped with a preset destination or not, if so, executing a step S6, and otherwise, executing a step S5;
wherein the preset destination is the terminal point of the navigation route.
S5, taking the second position information and the second navigation parameter information as the first position information and the first navigation parameter information, and repeating the steps S2-S4;
and S6, acquiring a simulated navigation track of the unmanned ship.
Specifically, the characteristic position is used as the current position, the second position information and the second navigation parameter information are used as the first position information and the first navigation parameter information, the steps S2 to S4 are repeated, the next characteristic position is obtained, and the first current position and the obtained multiple characteristic positions form the simulated navigation track of the unmanned ship until the characteristic position is overlapped with the preset destination.
According to the unmanned ship navigation simulation method provided by the embodiment of the invention, the second position information of the unmanned ship is calculated according to the first position information, the first navigation parameter information and the preset target position information and the preset unmanned ship motion model by acquiring the first position information, the first navigation parameter information and the preset target position information of the unmanned ship, the simulation processor calculates the second navigation parameter information according to the second position information and the preset target position information, then uses the second position information and the second navigation parameter information as the first position information and the first navigation parameter information, repeats the steps until the characteristic position is coincident with the preset destination, acquires the simulated navigation track of the unmanned ship, effectively reduces the debugging cost and shortens the test period.
On the basis of the above embodiment, further, the first location information includes a first longitude and a first latitude, and the first navigation parameter information includes a first navigation speed and a first heading angle; accordingly, the second location information comprises a second longitude and a second latitude, and the second navigation parameter information comprises a second navigation speed and a second heading angle.
Specifically, the first position information is obtained by the communication connection between the first obtaining module and a data port of the unmanned ship navigation console.
On the basis of the foregoing embodiment, further, calculating second position information of the unmanned ship according to the first position information, the first sailing parameter information, and a preset unmanned ship motion model includes:
according to the formula:
calculating the second longitude and the second latitude; wherein x is 1 Is the first longitude; y is 1 The first latitude is; x is the number of 2 Is a second longitude; y is 2 At a second latitude; psi is the first heading angle; l is 1 The distance between the current position and the characteristic position; v 1 Setting the time interval as a preset time interval, wherein the time interval is delta t; a is a relation coefficient between the distance between the current position and the feature position and the first longitude; b a relation coefficient between the distance between the current position and the characteristic position and a first latitude.
It can be understood that Δ t is the preset time period, and when Δ t is small enough, a plurality of feature positions at close distances can be obtained, and the accuracy of the simulated sailing track of the unmanned boat with the finally obtained track is higher. It should be noted that, in the actual sailing process, the position of the unmanned ship takes the characteristic position as the center of a circle and randomly moves within a certain range, so that a disturbance parameter can be introduced into the preset unmanned ship movement model to correct the characteristic position, the value of the disturbance parameter can be specifically set and adjusted according to the actual situation, and the value is not specifically limited here.
On the basis of the above embodiment, further, the preset target position information includes a third longitude and a third latitude; correspondingly, the simulation processor calculates second navigation parameter information according to the second position information and the preset target position information, and the calculation comprises the following steps:
calculating the distance between the preset target position and the characteristic position according to the third longitude and the third latitude and the second longitude and the second latitude;
calculating an azimuth angle of the preset target position relative to the feature position according to the third longitude and the third latitude and the second longitude and the second latitude;
and acquiring a second navigation speed and a second heading angle according to the distance between the preset target position and the characteristic position and the azimuth angle of the preset target position relative to the characteristic position.
Specifically, the simulation processor calculates a distance between the preset target position and the feature position according to the third longitude and the third latitude and the second longitude and the second latitude; calculating an azimuth angle of the preset target position relative to the feature position according to the third longitude and the third latitude and the second longitude and the second latitude; and acquiring a second navigation speed and a second heading angle according to the distance between the preset target position and the characteristic position and the azimuth angle of the preset target position relative to the characteristic position.
On the basis of the foregoing embodiment, further calculating a distance between the preset target position and the feature position according to the third longitude and the third latitude and the second longitude and the second latitude includes:
according to the formula:
calculating the distance between the preset target position and the characteristic position; wherein L is 2 The distance between the preset target position and the characteristic position is defined, and R is the radius of the earth; y is 3 Is the third latitude, y 2 The second latitude; x 3 Is the third longitude, X 2 Is the second longitude.
Specifically, when the distance between two points is small, the sea level can be approximately considered as a plane, a preset unmanned ship motion model is established according to a trigonometric function relationship, and the distance between the preset target position and the characteristic position is calculated; wherein R is the radius of the earth, and the average value can be 6371km.
In the foregoing embodiments, calculating an azimuth angle of the preset target position relative to the feature position according to the third longitude and the third latitude and the second longitude and the second latitude includes:
according to the formula:
α＝arctan((x 3 -x 2 )·cos(y 3 )/(y 3 -y 2 ))
calculating the azimuth angle of a preset target position relative to the characteristic position; wherein α is an azimuth angle of the preset target position relative to the feature position; x is the number of 3 Is the third longitude; x is the number of 2 Is the second longitude; y is 3 At the third latitude; y is 2 The second latitude.
It should be noted that, in the case where the unmanned vehicle speed is not 0, the amount of change in the course angle thereof is proportional to the rudder angle value; under the condition that the rudder angle of the unmanned ship is not 0, the variation of the course angle is in direct proportion to the speed, and the course angle at the current moment can be obtained by accumulating the variation of the course angle.
On the basis of the above embodiment, further, the method further comprises:
and acquiring corrected position information, and correcting the second navigation speed and the second course angle according to the corrected position information.
Specifically, the third obtaining module is in communication connection with the unmanned ship radar detection data port to obtain corrected position information, where the corrected position information may be obstacle avoidance position information output by the radar detection device, and may include longitude and latitude of an obstacle avoidance position, and the longitude and latitude of the obstacle avoidance position may be used as the preset target position information, and the second navigation speed and the second heading angle are recalculated.
For example, as shown in FIG. 2, line segment AB is a predetermined navigation route, including M 1 、M 2 、M 3 、……M n N route marking points, wherein the position of the current unmanned ship is P 1 Where the longitude (i.e., the first longitude) of the location is X1 and the latitude (i.e., the first latitude) is Y 1 The speed (i.e. the first speed) is V 1 The heading angle (i.e. the first heading angle) is psi, and after Δ t, the position of the target is calculated to reach the position P 2 The longitude (i.e., the second longitude) of (a) is X 2 The latitude (i.e. the second latitude) is Y 2 Marking point M of next route adjacent to the marking point M 1 As the preset target position, position M 1 The warp ofDegree (i.e., third longitude) is X 3 And the latitude (i.e. the third latitude) is Y 2 According to position P 2 Longitude and latitude of and M 1 Longitude and latitude of the position P is calculated 2 At position M 1 The distance of (c) and then the position M 1 Is in relation to position P 2 The azimuth angle of the unmanned ship is obtained, and the slave position P of the unmanned ship is obtained 2 The speed at departure (i.e., the second navigational speed) and the heading angle (i.e., the second heading angle). During the course of a voyage, if the radar detects M 1 In the presence of an obstacle, M 1 ' As a correction position, the position of M 1 ' as the preset target position, recalculating the second navigation speed and the second heading angle.
According to the unmanned ship navigation simulation method provided by the embodiment of the invention, the second position information of the unmanned ship is calculated according to the first position information, the first navigation parameter information and the preset target position information and the preset unmanned ship motion model by acquiring the first position information, the first navigation parameter information and the preset target position information of the unmanned ship, the simulation processor calculates the second navigation parameter information according to the second position information and the preset target position information, then uses the second position information and the second navigation parameter information as the first position information and the first navigation parameter information, repeats the steps until the characteristic position is coincident with the preset destination, acquires the simulated navigation track of the unmanned ship, effectively reduces the debugging cost and shortens the test period.
Fig. 3 is a schematic structural diagram of an unmanned ship navigation simulation system according to an embodiment of the present invention, and as shown in fig. 3, an embodiment of the present invention provides an unmanned ship navigation simulation system, including: a first obtaining module 201, a processing module 202, a simulation processor 203, a determining module 204 and a second obtaining module 205, wherein:
the first obtaining module 201 is configured to obtain first position information, first navigation parameter information and preset target position information of the unmanned ship; the first position information is information of the current position of the unmanned ship, and the first navigation parameter information is current navigation parameter information of the unmanned ship;
the processing module 202 is configured to calculate second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, and feed the second position information back to the simulation processor 203; the second position information is the position information of a characteristic position which is reached after the unmanned ship sails from the current position according to the first sailing parameter information for a preset time period;
the simulation processor 203 is configured to calculate second navigation parameter information according to the second position information and the preset target position information; the second navigation parameter information is navigation parameter information of the unmanned ship starting from the characteristic position;
a judging module 204, configured to judge whether the characteristic position coincides with a preset destination;
and a second obtaining module 205, configured to obtain the simulated sailing trajectory of the unmanned ship.
According to the unmanned ship navigation simulation system provided by the embodiment of the invention, the second position information of the unmanned ship is calculated according to the first position information, the first navigation parameter information and the preset target position information and the preset unmanned ship motion model by acquiring the first position information, the first navigation parameter information and the preset target position information of the unmanned ship, the simulation processor calculates the second navigation parameter information according to the second position information and the preset target position information, then uses the second position information and the second navigation parameter information as the first position information and the first navigation parameter information, repeats the steps until the characteristic position is coincident with the preset destination, acquires the simulated navigation track of the unmanned ship, effectively reduces the debugging cost and shortens the test period.
On the basis of the above embodiment, further, the system further includes a third obtaining module 206, configured to obtain the corrected location information.
In the above embodiments, the first obtaining module 201 is communicatively connected to a data port of an unmanned ship navigation console, and/or the third obtaining module 206 is communicatively connected to a data port of an unmanned ship radar detection.
Specifically, the unmanned ship navigation simulation system provided by the embodiment of the invention only needs to add a simulation output interface to the unmanned ship navigation console, wherein the interface comprises a data port for the unmanned ship navigation console and a detection data port for the unmanned ship radar, and is used for outputting position information, navigation parameter information and corrected position information.
According to the unmanned ship sailing simulation system provided by the embodiment of the invention, the second position information of the unmanned ship is calculated according to the first position information, the first sailing parameter information and the preset target position information and the first position information, the first sailing parameter information and the preset unmanned ship motion model, the simulation processor calculates the second sailing parameter information according to the second position information and the preset target position information, the second position information and the second sailing parameter information are used as the first position information and the first sailing parameter information, the steps are repeated until the characteristic position is coincident with the preset destination, the simulated sailing track of the unmanned ship is obtained, the debugging cost is effectively reduced, and the test period is shortened.
The embodiment of the system provided by the present invention may be specifically configured to execute the processing flows of the above method embodiments, and the functions of the system are not described herein again, and refer to the detailed description of the above method embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An unmanned ship sailing simulation method is characterized by comprising the following steps:
s1, acquiring first position information, first navigation parameter information and preset target position information of an unmanned ship; the first position information is position information of the current position of the unmanned ship, and the first navigation parameter information is current navigation parameter information of the unmanned ship;
s2, calculating second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, and feeding the second position information back to a simulation processor; the second position information is position information of a characteristic position which is reached after the unmanned ship sails from the current position according to the first sailing parameter information for a preset time period; calculating second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model, wherein the calculation comprises the following steps:
according to the formula:
calculating a second longitude and a second latitude; wherein x is 1 Is a first longitude; y is 1 Is a first latitude; x is a radical of a fluorine atom 2 Is a second longitude; y is 2 At a second latitude; psi is a first heading angle; l is 1 The distance between the current position and the characteristic position; v 1 Setting the first navigation speed as delta t as a preset time period; a is a relation coefficient between the distance between the current position and the characteristic position and the first longitude; b, a relation coefficient between the distance between the current position and the characteristic position and the first latitude;
s3, calculating second navigation parameter information by the simulation processor according to the second position information and the preset target position information; the second navigation parameter information is navigation parameter information of the unmanned ship starting from the characteristic position;
s4, judging whether the characteristic position is overlapped with a preset destination or not, if so, executing a step S6, and otherwise, executing a step S5;
s5, taking the second position information and the second navigation parameter information as the first position information and the first navigation parameter information, and repeating the steps S2-S4;
and S6, acquiring a simulated navigation track of the unmanned ship.
2. The simulated method of unmanned boat navigation of claim 1, wherein the first location information comprises a first longitude and a first latitude, and the first navigation parameter information comprises a first navigation speed and a first heading angle; accordingly, the second location information comprises a second longitude and a second latitude, and the second navigation parameter information comprises a second navigation speed and a second heading angle.
3. The unmanned ship voyage simulation method of claim 2, wherein the preset target position information comprises a third longitude and a third latitude; correspondingly, the simulation processor calculates second navigation parameter information according to the second position information and the preset target position information, and the calculation comprises the following steps:
calculating the distance between the preset target position and the characteristic position according to the third longitude and the third latitude and the second longitude and the second latitude;
calculating an azimuth angle of the preset target position relative to the characteristic position according to the third longitude and the third latitude and the second longitude and the second latitude;
and acquiring a second navigation speed and a second heading angle according to the distance between the preset target position and the characteristic position and the azimuth angle of the preset target position relative to the characteristic position.
4. The unmanned boat navigation simulation method of claim 3, wherein calculating the distance between the preset target position and the feature position according to the third longitude and the third latitude and the second longitude and the second latitude comprises:
according to the formula:
calculating the distance between the preset target position and the characteristic position; wherein, L2 is the distance between the preset target position and the characteristic position, and R is the radius of the earth; y is 3 Is the third latitude, y 2 The second latitude is; x 3 Is the third longitude, X 2 Is the second longitude.
5. The unmanned boat navigation simulation method of claim 4, wherein calculating an azimuth of the preset target position relative to the feature position from the third longitude and third latitude and the second longitude and second latitude comprises:
according to the formula:
α＝arctan((x 3 -x 2 )·cos(y 3 )(y 3 -y 2 ))
calculating the azimuth angle of a preset target position relative to the characteristic position; wherein α is an azimuth angle of the preset target position relative to the characteristic position; x is the number of 3 Is the third longitude; x is the number of 2 Is the second longitude; y is 3 At the third latitude; y is 2 The second latitude.
6. The unmanned boat navigation simulation method of claim 5, further comprising:
and acquiring corrected position information, and correcting the second navigation speed and the second course angle according to the corrected position information.
7. An unmanned ship voyage simulation system using the unmanned ship voyage simulation method according to claim 1, comprising:
the first acquisition module is used for acquiring first position information, first navigation parameter information and preset target position information of the unmanned ship; the first position information is information of the current position of the unmanned ship, and the first navigation parameter information is current navigation parameter information of the unmanned ship;
the processing module is used for calculating second position information of the unmanned ship according to the first position information, the first navigation parameter information and a preset unmanned ship motion model and feeding the second position information back to the simulation processor; the second position information is the position information of a characteristic position which is reached after the unmanned ship sails from the current position according to the first sailing parameter information for a preset time period;
the simulation processor is used for calculating second navigation parameter information according to the second position information and the preset target position information; the second navigation parameter information is navigation parameter information of the unmanned ship starting from the characteristic position;
the judging module is used for judging whether the characteristic position is superposed with a preset destination or not;
and the second acquisition module is used for acquiring the simulated sailing track of the unmanned ship.
8. The unmanned boat navigation simulation system of claim 7, further comprising a third acquisition module for acquiring the revised position information.
9. The unmanned ship vessel simulation system of claim 8, wherein the first acquisition module is in communication with an unmanned ship vessel navigation console data port, and/or the third acquisition module is in communication with an unmanned ship radar survey data port.
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