CN113721481A - Virtual-real combined comprehensive bridge equipment test platform and test method - Google Patents
Virtual-real combined comprehensive bridge equipment test platform and test method Download PDFInfo
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Abstract
The invention provides a virtual-real combined comprehensive bridge equipment test platform and a test method, wherein the comprehensive bridge equipment test platform comprises a database system and a test system, the test system is in communication connection with the database system and calls data in the database system, and the database system comprises a ship model library, a three-dimensional scene library, a test scene library and a test case library; the test system comprises a guide control station, a bridge control module, a ship motion data module, a three-dimensional visual scene display module, a radar echo generation module, a target object generation module and a sensor equipment simulation module; the guide control station is interactively connected with the database system and calls data in the database system, the guide control station is interactively connected with the comprehensive bridge equipment, the guide control station sends a test instruction and a simulation message to the comprehensive bridge equipment, and the comprehensive bridge equipment sends a test operation and an operation result to the guide control station. The invention can reduce the test cost, shorten the test period and reduce the complexity of test execution.
Description
Technical Field
The invention relates to the technical field of ship simulation tests, in particular to a virtual-real combined comprehensive bridge equipment test platform and a test method.
Background
Considering that the information level and complexity of the comprehensive bridge equipment are higher and higher, the characteristics of technical integration, intelligent control and accurate high-energy are gradually displayed, so that the test sample amount required for finding out the performance base of the equipment is larger and larger, and the contradiction between the test period and the expenditure is more and more prominent; and the real ship test has high identification difficulty and high cost, and provides higher requirements for the test and evaluation of the comprehensive bridge equipment under the drive of external environment and internal requirements. In order to support the comprehensive bridge equipment test under various navigation control environments close to a real ship, an effective test method is urgently needed, the capability of new equipment can be examined and verified, the use risk problem of the equipment can be relatively truly and fully exposed, the quality risk problem caused by the fact that the equipment is increasingly complex is effectively solved, a reliable scientific basis is provided for the design, development, production and planning of the equipment and the approval of plans in various stages of training, and the technical risk and the test cost of the equipment can be greatly reduced.
According to different test positions, the test of the comprehensive bridge equipment can be divided into a laboratory test and a real ship test. The laboratory test, namely the virtual simulation test, is a method for providing support for an equipment test by utilizing a computer modeling and simulation technology and combining a test technology, a communication technology and a network technology. The method has the advantages of short development period, low development cost, low development risk and the like. The virtual simulation test utilizes indoor test field resources to carry out the test, and can provide a relatively comprehensive scene environment which is usually difficult to obtain on a real ship. The real ship test refers to developing a real ship navigation test under different marine environments, meteorological conditions, airway conditions and operating conditions, accumulating navigation data and analyzing, continuously accumulating equipment real ship use experience and improving equipment practicability.
Both of these test methods have their own advantages and disadvantages, and laboratory tests have the advantages that: (1) when no real-mounted equipment is used for carrying out real-ship testing, laboratory testing is an effective testing means; (2) for the comprehensive bridge equipment with high informatization degree and complex functions, the test volume is huge, and the laboratory test is economic and efficient and has good repeatability; (3) when extreme condition tests are carried out, such as scenes of heavy wind waves, poor visibility, faults and the like, laboratory test scenes are easy to obtain and high in safety. The laboratory test has the defects that the accuracy of the laboratory test is influenced by the accuracy of a data source and a simulation model, and the simulation accuracy is not high. The advantages and disadvantages of the actual ship test are relatively high cost, low efficiency and poor safety, but the precision is more guaranteed.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a virtual-real combined comprehensive bridge equipment testing platform, effectively combines the advantages of a real ship test and a laboratory test, can complete the test contents of IEC standard test, boundary condition test, extreme condition test, FEMA-based fault test and the like of the comprehensive bridge equipment, the virtual test is used for guiding the effective development of the real ship test, and the data acquired by a real ship is used for supplementing the real data of part of the virtual test, so that the comprehensive bridge equipment testing platform has the characteristics of high safety, low cost, short period, high reliability, good repeatability and the like. In addition, the invention also provides a virtual-real combined comprehensive bridge equipment testing method.
In order to achieve the above objects and other related objects, the present invention adopts the following technical solutions:
the invention provides a virtual-real combined comprehensive bridge equipment test platform, which comprises a database system and a test system, wherein the test system is in communication connection with the database system and calls data in the database system, and the database system comprises a ship model library, a three-dimensional scene library, a test scene library and a test case library;
the test system comprises a guide control station, a bridge control module, a ship motion data module, a three-dimensional visual scene display module, a radar echo generation module, a target object generation module and a sensor equipment simulation module;
the guide control station and the database system are in interactive connection and call data in the database system, the guide control station and the comprehensive bridge equipment are in interactive connection, the guide control station sends a test instruction and a simulation message to the comprehensive bridge equipment, and the comprehensive bridge equipment sends a test operation and an operation result to the guide control station;
the ship motion data module is connected with a guide control station and a bridge control module, the bridge control module sends an operation instruction to the ship motion data module, the guide control station selects a ship to be tested to carry comprehensive bridge equipment from a ship model ship as a ship, the guide control station guides the ship model into the ship motion data module, and the ship motion data module calculates the ship motion attitude;
the three-dimensional visual display module is connected with the guide control station and the ship motion data module, and port scenes, test scenes and ship motion postures are displayed in the three-dimensional visual display module;
the sensor equipment simulation module is connected with the ship motion data module and calls ship motion information calculated in the ship motion data module, and the sensor equipment simulation module is connected to the comprehensive bridge equipment through an interface and gives feedback and prompt through the bridge equipment;
the radar echo generating module is connected to the bridge comprehensive equipment through an interface, and radar target echo signals are displayed in real time through the bridge comprehensive equipment;
the target object generation module is connected to the bridge comprehensive equipment through an interface, and AIS ship information of an actual water area is displayed in real time through the bridge comprehensive equipment.
As a preferred technical solution, the pilot control station includes a test case editing submodule, a test scenario editing submodule, a test process pilot and monitor submodule, a test record playback module, a test report output module, and a simulation message tool module, the test case editing submodule is connected to a test case library and is used for calling test contents from the test case library, the test scenario editing submodule is connected to a ship model library, a three-dimensional scene library, and a test scenario library, a ship model is called from the ship model library, geographical location information is called from the three-dimensional scene library, environmental information is called from the test scenario library, the test process pilot and monitor submodule is used for completing control of a test task, the test record playback module is used for recording and playing back a test process, and the test report output module is used for outputting a generated test report, the simulation message tool module is used for generating simulation messages.
As a preferred technical scheme, the bridge operating module comprises tested comprehensive bridge equipment and simulation auxiliary equipment, and the simulation auxiliary equipment comprises navigation operating equipment, navigation auxiliary equipment, navigation communication equipment and information display equipment.
As a preferred technical solution, the ship motion data module is used for generating ship motion data, and includes a motion simulation module and an actual ship data module.
As a preferred technical solution, the target generation module is configured to generate a radar target and an AIS target.
As a preferred technical solution, the radar echo generating module is configured to generate a radar echo of a quay wall and a target.
As a preferable technical scheme, all modules in the database system and the test system are connected through a network communication module.
The invention provides a virtual-real combined comprehensive bridge equipment testing method, which comprises the following steps:
step 1, establishing a database system of comprehensive bridge equipment; extracting the test content of the comprehensive bridge equipment from the test case library through a test case editing submodule of the pilot station;
step 2, building a virtual test scene of the comprehensive bridge equipment;
s2.1, extracting wharf position data from the three-dimensional scene module through a test scene editing submodule of the guide and control station, and extracting environment information from the test scene module to form a test sea area and an environment;
s2.2, setting the initial state of the ship; calling ship model information through a test scene editing submodule of the pilot station to generate an initial state of the ship;
step 3, building a real ship test scene of the comprehensive bridge equipment; analyzing the real ship test data, and importing the real ship test data into a test scene library to serve as a real ship test scene;
step 4, executing a test task;
s4.1, selecting a test scene, clicking a start button of a process control and monitoring sub-module of the pilot station, starting a test task, and controlling the ship to sail through a bridge control module;
s4.2, setting a test pilot item, and controlling the sailing environment, the target ship and the target object of the test in real time through a process control and monitoring submodule of the pilot station;
s4.3, recording the test process, and recording the test process through a recording and playback sub-module of the control station;
step 5, ending the testing task;
the testing task is ended by clicking a stop button of the process control and monitoring submodule of the control and guidance station;
and 6, analyzing the test result, guiding the real ship test, and returning to the third step until the test is finished.
In the invention, "combination" means that on the basis that two tests are independently completed, a virtual simulation test can obtain measurement data of a real ship test, then a simulation operation process is dynamically triggered through a decision and control function, one or more simulation scenarios can be generated by analyzing the measurement data through an analysis and optimization function, so that the operation of the simulation scenarios is started, the analysis and optimization function can also analyze and process simulation results, the analysis results are submitted to the decision and control function, and finally the module determines which operations are output to the real ship test process, wherein the operations can be some control instructions or decision options used by an external decision maker.
Compared with the prior art, the invention has the beneficial effects that: compared with a real ship test method, the virtual-real combined test method can reduce test cost, shorten test period, reduce complexity of test execution and danger of the process, and simultaneously ensure that part of test contents can be repeated; compared with a pure virtual simulation experiment, the method has higher reliability.
Drawings
Fig. 1 shows a working flow chart of the comprehensive bridge equipment testing platform of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Example 1
Referring to fig. 1, the embodiment provides a virtual-real combined comprehensive bridge equipment test platform, which is characterized by comprising a database system and a test system, wherein the test system is in communication connection with the database system and calls data in the database system, and the database system comprises a ship model library, a three-dimensional scene library, a test scene library and a test case library.
The test system comprises a guide control station, a bridge control module, a ship motion data module, a three-dimensional visual display module, a radar echo generation module, a target object generation module and a sensor equipment simulation module.
The guide control station and the database system are in interactive connection and call data in the database system, the guide control station and the comprehensive bridge equipment are in interactive connection, the guide control station sends a test instruction and a simulation message to the comprehensive bridge equipment, and the comprehensive bridge equipment sends a test operation and an operation result to the guide control station.
The ship motion data module is connected with the guiding and controlling station and the bridge operating module, the bridge operating module sends an operation instruction to the ship motion data module, the guiding and controlling station selects a ship to be tested to carry comprehensive bridge equipment from the ship model ship to serve as the ship, the guiding and controlling station guides the ship model into the ship motion data module, and the ship motion attitude is calculated by the ship motion data module.
The three-dimensional visual display module is connected with the guide control station and the ship motion data module, and port scenes, test scenes and ship motion postures are displayed in the three-dimensional visual display module.
The sensor equipment simulation module is connected with the ship motion data module and calls ship motion information calculated in the ship motion data module, and the sensor equipment simulation module is connected to the comprehensive bridge equipment through an interface and gives feedback and prompt through the bridge equipment.
The radar echo generating module is connected to the bridge comprehensive equipment through an interface, and radar target echo signals are displayed in real time through the bridge comprehensive equipment.
The target object generation module is connected to the bridge comprehensive equipment through an interface, and AIS ship information of an actual water area is displayed in real time through the bridge comprehensive equipment.
The guide control station consists of hardware such as a common computer, a display and the like and guide control software, and is used for carrying out the work including preparation before testing, control and monitoring in the testing process, analysis after testing and the like. The guide control station comprises a test case editing submodule, a test scene editing submodule, a test process guiding and monitoring submodule, a test record playback module, a test report output module and an analog message tool module.
The test case editing submodule is connected with the test case library and used for calling test contents from the test case library. The test case editing submodule is used for managing and maintaining related test contents of the comprehensive bridge equipment and covers the contents of function test, performance test, interface test, man-machine interaction interface test, margin test, boundary test and the like. Each test case can be provided with a judgment rule of a test result so as to use the platform to carry out automatic test, and the test result is automatically given according to the judgment rule, so that the test efficiency and the test fairness are improved.
The test scene editing submodule is connected with the ship model library, the three-dimensional scene library and the test scene library, a ship model is called from the ship model library, the geographic position information is called from the three-dimensional scene library, and the environment information is called from the test scene library. The test scene generation submodule provides a friendly interface for testers through simple and convenient operations such as graphs, dialog boxes, menus, tool bars and the like, and test scenes are conveniently manufactured and edited, and the test scenes comprise an initial navigation environment, a selection of a test port, a setting of the position of a ship, a setting of the position of a target ship, a navigation mode and the like, and various scenes of ship navigation such as a conventional navigation scene, an anchoring scene, a multi-target ship scene, a dangerous meeting scene, an open water navigation scene, a narrow water channel navigation scene, a strong storm navigation scene, a poor visibility scene, a night navigation scene, an equipment fault scene and the like are generated, so that the running state of the INS under various typical scenes can be covered, and the condition that faults occur during actual assembly and dangerous hidden dangers are brought to navigation due to missing measurement is prevented.
The test process guiding and monitoring submodule is used for completing the control of a test task, including starting, pausing, continuing and stopping; monitoring the test process, including the navigation information of the ship and the target ship in the test process, such as the ship position, the navigation speed and the course and the like; monitoring the running state of the comprehensive bridge equipment, including power on/off, operation and the like; monitoring the states of the test cases, including non-test, test pass, test fail and the like; a navigational environment for real-time control testing, comprising: wind, wave, flow, temporal weather, visibility, etc.; controlling a target ship and a target object in real time; and setting a fault condition corresponding to the alarm content of the comprehensive bridge equipment.
The test record playback module is used for recording and playing back test processes, and the playback speed can be adjusted at will.
The test report output module is used for outputting the generated test report, and the simulation message tool module is used for generating a simulation message.
The bridge control module comprises tested comprehensive bridge equipment and simulation auxiliary equipment, wherein the simulation auxiliary equipment comprises navigation control equipment: a vehicle clock, a follow-up rudder, an automatic rudder, an emergency rudder and a lateral push; navigation auxiliary equipment: signal lamp type control, sound signal control, anchor, cable, tug control; navigation communication equipment: program controlled telephone, voice-activated telephone, VHF; an information display device: the electric compass, the top instrument and the like provide navigation operation experience close to a real ship for the test of comprehensive bridge equipment.
The ship motion data module is used for generating ship motion data and comprises a motion simulation module and a real ship data module. The ship six-degree-of-freedom motion model can be obtained by acquiring data for a real ship or calculating through a six-degree-of-freedom motion algorithm, the six-degree-of-freedom motion algorithm is used for establishing a ship six-degree-of-freedom motion model under various conditions including a vehicle, a rudder, a storm, an anchor, a cable, a tug and the like according to different ship straight voyage, rotation, swinging and other motion characteristics, and the model can truly simulate the hydrodynamic characteristics of the ship in an open water area, including the influences of weather, waves and flow; the hydrodynamic characteristics of the ship in a limited water area can be simulated really, including shallow water, a shore wall and an inter-ship effect; the response of the ship under the action of the anchor, the vehicle, the rudder, the cable and the tug can be simulated really, and an accurate simulated motion data source is provided for the test of the comprehensive bridge equipment.
The target object generation module is used for generating a radar target and an AIS target, and the source of the target ship data can be obtained by an AIS real machine or obtained by pure virtual simulation. The AIS real machine acquires AIS equipment which indicates that the AIS equipment of the adjacent water area is directly accessed into the comprehensive bridge equipment, namely AIS ship information of the actual water area is displayed in real time. The pure virtual simulation AIS target refers to the AIS data generated in a manual/automatic setting mode by a guide control station.
The radar echo generating module is used for generating radar echoes of a quay wall and a target, and the echo data source can be radar videos acquired by a real ship or radar echo signals generated by pure virtual simulation. The pure virtual simulation radar echo consists of a shoreline echo and a target echo, wherein the shoreline echo is generated by shoreline data of an electronic chart, the target echo is used for receiving target ship information, and according to the ship length, the ship width, the course and other information, a generation algorithm can simulate a front section antenna and a transceiver of a radar with different X, S wave bands to generate a radar target echo signal corresponding to a real radar picture.
The sensor equipment simulation module simulates sensor equipment butted with the comprehensive bridge equipment, and comprises a heading sensor, an EPFS1, an EPFS2, an SDME1, an SDME2, an AIS, a NAVTEX, a depth finder, an anemoscope and the like, signals of the simulation equipment are transmitted to the comprehensive bridge equipment according to a standard butt joint interface, equipment faults or disconnection are set during testing, and the comprehensive bridge equipment can give corresponding feedback and prompt.
The target object generation module, the radar echo generation module and the sensor equipment simulation module are arranged for judging the connection condition of the comprehensive bridge equipment and an external interface and judging whether the comprehensive bridge equipment can send corresponding feedback and prompt according to faults.
The three-dimensional visual display module adopts advanced technologies such as advanced computer imaging, virtual reality, seamless splicing wide-angle-of-view circular screen projection technology and the like, has higher simulation precision, provides the most direct visual and auditory information including sky, weather change, sea surface, landform, wharfs, buildings, navigation aids, sea wave sound, cab noise and the like in the ship navigation process for testers, and is arranged in an environment close to a real ship.
The simulation test database is used for storing contents such as ship models, port models, test cases, test scenes, test process data, test results, real ship test data and the like. The network communication module is a channel for connecting the modules to facilitate data exchange in the test process.
Example 2
The embodiment provides a virtual-real combined comprehensive bridge equipment test, which comprises the following steps:
and establishing a test case library of the comprehensive bridge equipment through the test application case editing submodule of the pilot station. The method comprises the steps of extracting test contents of the comprehensive bridge equipment according to IEC serial standards, including a basic test in the IEC 61924 standard, an interface test in the IEC 61162 standard, a fault test in the IEC 60812 standard and the like, and determining evaluation standards of the test contents.
Step 2, building a virtual test scene of the comprehensive bridge equipment
(21) And setting a test sea area and environment through a test scene generation submodule of the pilot station. The test sea area comprises various ship navigation areas such as an open water area, a narrow water channel water area, a port dock, an island dipping area and the like. The environment includes time, weather, wind, waves, currents, tides, etc.
(22) And setting the initial state of the ship through the test scene generation submodule of the guide control station. The initial state of the ship comprises the ship type, the initial position, the initial attitude, the initial course, the initial navigational speed, the sensor state of the ship in butt joint with the comprehensive bridge equipment, the power state of the ship, the damage management state of the ship and the like.
(23) And selecting a comprehensive bridge equipment version to be tested through a test scene generation submodule of the guide control station, and binding the test application example in the step 1.
And 3, analyzing the measurement data of the real ship test, and building a real ship test scene of the comprehensive bridge equipment.
Analyzing the data collected by the real ship, including the ship navigation data, AIS data and radar video data, and importing the data into a test scene library to serve as a real ship test scene.
Step 4, executing the testing task
(41) And selecting a test scene, clicking a start button of the process control and monitoring submodule of the guide control station, and starting a test task. The test scenario is a virtual test scenario and is executed (411), the test scenario is a real ship test scenario, and the execution (412):
(411) and controlling the ship to sail through the bridge control module, resolving by the ship six-degree-of-freedom motion algorithm to obtain information such as sailing attitude of the ship, and testing personnel test the comprehensive bridge equipment.
(412) The information such as ship navigation attitude and the like comes from the data acquired by the real ship, and testers directly test the comprehensive bridge equipment.
(42) Setting a test guide and adjustment item, and leading the process control and monitoring submodule of the control station to include a navigation environment of a real-time control test, which comprises the following steps: wind, wave, flow, temporal weather, visibility, etc.; controlling a target ship and a target object in real time; and setting a fault condition corresponding to the alarm content of the comprehensive bridge equipment.
(42) And monitoring the test process, wherein the monitoring content of the guide and control station and the operation and use conditions of the comprehensive bridge equipment are included.
(43) And recording the test process, and recording and playing back the test process by the guide control station recording and playing back submodule.
Step 5, ending the testing task
(51) And ending the test task by clicking a stop button of the process control and monitoring submodule of the guide control station.
(52) And manually/automatically evaluating each test case according to the test evaluation standard by the test report generation and printing sub-module of the control station, generating a test report and printing the test report.
And 6, analyzing the test result, guiding to carry out the real ship test, and returning to the step 3. Until the test is complete.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A virtual-real combined comprehensive bridge equipment test platform is characterized by comprising a database system and a test system, wherein the test system is in communication connection with the database system and calls data in the database system, and the database system comprises a ship model library, a three-dimensional scene library, a test scene library and a test case library;
the test system comprises a guide control station, a bridge control module, a ship motion data module, a three-dimensional visual scene display module, a radar echo generation module, a target object generation module and a sensor equipment simulation module;
the guide control station and the database system are in interactive connection and call data in the database system, the guide control station and the comprehensive bridge equipment are in interactive connection, the guide control station sends a test instruction and a simulation message to the comprehensive bridge equipment, and the comprehensive bridge equipment sends a test operation and an operation result to the guide control station;
the ship motion data module is connected with a guide control station and a bridge control module, the bridge control module sends an operation instruction to the ship motion data module, the guide control station selects a ship to be tested to carry comprehensive bridge equipment from a ship model ship as a ship, the guide control station guides the ship model into the ship motion data module, and the ship motion data module calculates the ship motion attitude;
the three-dimensional visual display module is connected with the guide control station and the ship motion data module, and port scenes, test scenes and ship motion postures are displayed in the three-dimensional visual display module;
the sensor equipment simulation module is connected with the ship motion data module and calls ship motion information calculated in the ship motion data module, and the sensor equipment simulation module is connected to the comprehensive bridge equipment through an interface and gives feedback and prompt through the bridge equipment;
the radar echo generating module is connected to the bridge comprehensive equipment through an interface, and radar target echo signals are displayed in real time through the bridge comprehensive equipment;
the target object generation module is connected to the bridge comprehensive equipment through an interface, and AIS ship information of an actual water area is displayed in real time through the bridge comprehensive equipment.
2. The virtual-real combined integrated bridge equipment test platform of claim 1, wherein the control station comprises a test case editing submodule, a test scenario editing submodule, a test process guiding and monitoring submodule, a test record playback module, a test report output module and a simulation message tool module, the test case editing submodule is connected with the test case library and is used for calling test contents from the test case library, the test scenario editing submodule is connected with the ship model library, the three-dimensional scene library and the test scenario library, the ship model is called from the ship model library, the geographic position information is called from the three-dimensional scene library, the environment information is called from the test scenario library, the test process guiding and monitoring submodule is used for completing control of a test task, and the test record playback module is used for recording and playing back a test process, the test report output module is used for outputting the generated test report, and the simulation message tool module is used for generating a simulation message.
3. The virtual-real combined comprehensive bridge equipment test platform of claim 1, wherein the bridge operating module comprises tested comprehensive bridge equipment and simulation auxiliary equipment, and the simulation auxiliary equipment comprises navigation operating equipment, navigation auxiliary equipment, navigation communication equipment and information display equipment.
4. The virtual-real combined comprehensive bridge equipment test platform of claim 1, wherein the ship motion data module is used for generating ship motion data and comprises a motion simulation module and a real ship data module.
5. The virtual-real combined integrated bridge-based equipment testing platform of claim 1, wherein the target generation module is configured to generate a radar target and an AIS target.
6. The virtual-real combined comprehensive bridge equipment test platform of claim 1, wherein the radar echo generation module is used for generating radar echoes of a quay wall and a target.
7. The virtual-real combined integrated bridge equipment test platform as claimed in claim 1, wherein the modules in the database system and the test system are connected through a network communication module.
8. A virtual-real combined comprehensive bridge equipment testing method adopts the comprehensive bridge equipment testing platform of any one of claims 1 to 7, and is characterized by comprising the following steps:
step 1, establishing a database system of comprehensive bridge equipment; extracting the test content of the comprehensive bridge equipment from the test case library through a test case editing submodule of the pilot station;
step 2, building a virtual test scene of the comprehensive bridge equipment;
s2.1, extracting wharf position data from the three-dimensional scene module through a test scene editing submodule of the guide and control station, and extracting environment information from the test scene module to form a test sea area and an environment;
s2.2, setting the initial state of the ship; calling ship model information through a test scene editing submodule of the pilot station to generate an initial state of the ship;
step 3, building a real ship test scene of the comprehensive bridge equipment; analyzing the real ship test data, and importing the real ship test data into a test scene library to serve as a real ship test scene;
step 4, executing a test task;
s4.1, selecting a test scene, clicking a start button of a process control and monitoring sub-module of the pilot station, starting a test task, and controlling the ship to sail through a bridge control module;
s4.2, setting a test pilot item, and controlling the sailing environment, the target ship and the target object of the test in real time through a process control and monitoring submodule of the pilot station;
s4.3, recording the test process, and recording the test process through a recording and playback sub-module of the control station;
step 5, ending the testing task;
the testing task is ended by clicking a stop button of the process control and monitoring submodule of the control and guidance station;
and 6, analyzing the test result, guiding the real ship test, and returning to the third step until the test is finished.
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