无人水面艇自主航行系统的海上实装测试成本高、周期长,纯虚拟仿真测试在无人水面艇运动仿真环节真实性差,为了提高无人水面艇自主航行系统测试的效费比,综合虚拟仿真测试与实装测试的优势,设计了虚实结合的无人水面艇自主航行测试系统,在任务场景构建与环境感知传感器环节使用虚拟仿真技术,在无人艇传动系统与船舶海洋动力学环节采用实装在环路技术,通过虚实空间配准技术将无人水面艇在虚拟空间的数字孪生体与真实空间的物理实体进行实时空间位置、姿态同步,最后通过仿真实验表明了该测试系统的正确性与合理性。
The cost of on-site testing for unmanned surface vehicle（USV） autonomous navigation systems is high, and pure virtual simulation tests lack authenticity in marine dynamics simulation. To address these challenges and improve the effectiveness-cost ratio of USV autonomous navigation system testing, a hybrid testing system combining virtual and real elements is proposed. The designed system leverages virtual simulation technology for task scene construction and environmental sensing sensors, while real-in-loop technology is used for the transmission system and marine dynamics of the USV. The system achieves real-time position and attitude synchronization between the digital twins of the USV and its physical entities through virtual and real space registration technology. Simulation results validate the correctness and rationality of the system, demonstrating its effectiveness in testing USV autonomous navigation systems while reducing costs.
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