虚实结合的无人水面艇自主航行测试系统设计

doi:10.3969/j.issn.0255-8297.2023.06.013

Abstract

Abstract: 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.

Key words: unmanned surface vehicle(USV), autonomous navigation, simulation testing, digital twins, sensor simulation

CLC Number:

TP242.6

LIU Hongxiao, YANG Cheng, TAN Aidi, LU Jing, LI You. Design of the Autonomous Navigation Test System for Unmanned Surface Vehicle Combining Virtual and Reality[J]. Journal of Applied Sciences, 2023, 41(6): 1068-1077.

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Design of the Autonomous Navigation Test System for Unmanned Surface Vehicle Combining Virtual and Reality

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