CN114802640A - Unmanned ship testing system and method - Google Patents
Unmanned ship testing system and method Download PDFInfo
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Abstract
The invention provides a test system and a method for an unmanned ship, wherein the system comprises an internal field test subsystem and an external field test subsystem; the internal field test subsystem is used for constructing simulation scenes of various environments and targets so as to realize the equivalent test of the unmanned ship during marine navigation and task execution; the external field test subsystem is used for constructing a marine test field to perform an external field test project and verifying a test result of an internal field. The unmanned ship offshore navigation and task execution equivalent test system realizes the equivalent test of the unmanned ship during the process of offshore navigation and task execution through the internal field test subsystem and the external field test subsystem, simultaneously constructs an offshore test field to perform an external field test project, and can verify the test result of the internal field through the offshore test field. The unmanned ship test system provided by the invention meets the test requirements of the unmanned ship and fills the blank of unmanned ship test.
Description
Technical Field
The invention relates to the technical field of unmanned boats, in particular to an unmanned boat testing system and method.
Background
In the aspect of testing and evaluating the manned boat, the test of the relevant platform performance, such as single test of power, endurance, electromechanical performance and the like, has mature and effective testing capability, so that the relevant testing technology of the manned boat can be used for reference for the conventional test of the unmanned boat platform. However, the application of the intelligent unmanned ship technology brings new evaluation requirements for the test and evaluation of the unmanned ship, such as system performance, autonomous control capability and the like. Particularly, for testing and evaluation in the aspects of complex environment and limit conditions, a blank exists in various aspects such as a standard system, a test technology and the like at home at present.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a test system and a test method for the unmanned ship.
Specifically, the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides an unmanned ship test system, including: an internal field test subsystem and an external field test subsystem;
the internal field test subsystem is used for constructing simulation scenes of various environments and targets so as to realize the equivalent test of the unmanned ship during marine navigation and task execution;
the external field test subsystem is used for constructing a marine test field to perform an external field test project and verifying a test result of an internal field.
Further, the internal field test subsystem includes: the system comprises an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a scene simulation subsystem, a networked comprehensive test subsystem and a data analysis and capability evaluation system;
the environment simulation and motion simulation subsystem is used for constructing a marine virtual test environment by taking modeling software as a carrier and actual measurement environment data and a combat mission mode as a basis;
the environment and motion control subsystem is used for simulating a temperature and humidity environment, a salt fog environment, an electromagnetic environment and motion actions;
the visual simulation subsystem is used for being deployed at the front side of the interior motion simulation platform and constructing visual information in the test process;
the networked comprehensive test subsystem is used for constructing a networked comprehensive test system comprising environment monitoring, test control, operation control, electromagnetic environment monitoring, video monitoring, ship-borne test and ship tail test;
the data analysis and capability evaluation system is used for simulating the whole process of executing the task after the unmanned ship receives the combat task and carrying out data analysis on the whole process.
Further, the environmental simulation and motion simulation subsystem includes: the system comprises a computer, a server, natural environment data modeling software, mechanical environment data modeling software, electromagnetic interference model data software, sensor target generation software, a virtual engine, comprehensive environment model construction software and task test scheme generation software;
the computer is used for acquiring environmental data and a combat task mode in a testing process and sending the acquired environmental data and the acquired combat task mode to the server, and the server sends the environmental data and the combat task mode to the natural environment data modeling software, the mechanical environment data modeling software, the electromagnetic interference model data software, the sensor target generation software and the virtual engine, the comprehensive environment model construction software and the task testing scheme generation software so as to construct a marine virtual testing environment.
Further, the environment and motion control subsystem comprises: the system comprises a six-degree-of-freedom swing test bed, a temperature and humidity salt spray test box, a signal generator, a microwave power meter, a power amplifier and a signal analyzer;
the six-degree-of-freedom swing test bed is used for forming a motion simulation subsystem, the temperature and humidity salt fog test box is used for forming a temperature and humidity and salt fog environment simulation subsystem, and the signal generator, the microwave power meter, the power amplifier and the signal analyzer are used for forming an electromagnetic environment simulation subsystem.
Furthermore, the visual simulation subsystem comprises a projection curtain, a projection device, a fusion control device, a network device, a computer and a switching matrix.
Furthermore, the networked comprehensive test subsystem comprises an environment monitoring subsystem, a test control center, an information switching network, a power supply and distribution system and an on-board test subsystem;
the environment monitoring subsystem comprises a natural environment monitoring node, a motion monitoring node, an electromagnetic environment monitoring node and a video monitoring node;
the boat-borne test subsystem comprises a boat head test node and a boat tail test node; the hull head test node and the hull tail test node respectively comprise a node controller, a vibration sensor, a structural strain sensor, an attitude sensor, a communication interface expansion module, a wireless transmission module, a differential positioning receiver, a temperature and humidity sensor and a rotation angle sensor;
the information exchange network comprises a network switch, a bus network, a wireless gateway and a communication interface expansion unit;
the power supply and distribution system comprises a power distribution controller, a UPS and a power supply state monitoring device.
Further, the data analysis and capability evaluation system includes: the system comprises a scene construction platform, an intelligent evolution platform, a simulation test system, a data analysis module and an evaluation service;
for the simulation test of the task function, the simulation of the marine environment and various test scenes is realized through the test scenes generated by the scene construction platform, the test scene data is read by using a test simulator, the situation information is generated and output to a single-boat control computer, the single-unmanned-boat environment perception and navigation control information is displayed on a single-boat console, and the cluster structure and the cluster situation information are displayed on a cooperative console, so that the simulation test of the task function and the cluster formation control of the single boat is completed;
for the simulation test of the intelligent algorithm, real boat collected data is stored and marked on the intelligent evolution platform to form an algorithm training set and a verification set, and for the algorithm after training and verification on the intelligent evolution platform, the algorithm is deployed to a boat-end reasoning end, and the simulation test of the intelligent algorithm is completed in the task function process; and the test data generated by the real boat and the simulation test are subjected to track precision analysis and test data playback through the data analysis module, and the test is evaluated through the evaluation service according to a preset scoring algorithm.
Further, the external field test subsystem includes: a shore-based remote measurement subsystem and a ship-based test subsystem;
the shore-based remote measurement subsystem is used for constructing a communication and monitoring network covering an external field test field area by arranging relay type wireless communication stations along the shore of the test field and combining an offshore relay device, realizing the interconnection of everything of a plurality of test devices in the test field, and completing the monitoring and control of a tested object, each test device and the marine environment in the test field;
the shipborne testing subsystem is deployed on the unmanned ship to be tested and used for acquiring the vibration, the stretching, the temperature and the humidity stress actually borne by the unmanned ship to be tested, the posture changes and the positions of multiple parts, preprocessing acquired data, sending the preprocessed data to the shore-based remote measuring subsystem through wireless transmission equipment, and receiving the output information of each device on the unmanned ship to be tested through the expanded communication interface.
Further, the shore-based telemetry subsystem comprises: the system comprises a marine multi-parameter distributed test system and a ship shore sea multi-terminal data communication network; the offshore multi-parameter distributed test system comprises a shore-based perception sensor unit, an unmanned shipborne perception sensor unit and a multi-sensor buoy unit; the shore sea multi-terminal data communication network comprises a wireless communication network, radio communication, a broadband network and satellite communication;
the ship-borne test subsystem comprises: the device comprises an upper computer, a radio station A, a radio station B, a bus, an anemograph, an attitude indicator, a torque sensor, an optical speed measurement sensor, an electronic compass, a GPS, a wave buoy receiver and an SZF wave buoy on the sea, wherein the anemometer, the attitude indicator, the torque sensor, the optical speed measurement sensor, the electronic compass and the GPS are positioned on a ship body.
In a second aspect, an embodiment of the present invention further provides an unmanned ship testing method based on the unmanned ship testing system according to the first aspect, including:
the step of developing a task-oriented test design specifically comprises: designing test subjects and evaluation contents according to the requirement input of a test object, designing a model and an environment on the basis of each test subject, optimizing a design test channel, and completing the design and construction of a test environment and the instruction generation of an unmanned ship motion platform motion model to serve as one of platform motion elements for platform driving;
the design step of the test flow for developing the internal and external field tests specifically comprises the following steps: in the test implementation stage, the test implementation stage comprises an external field test and an internal field test, for the external field test, a test outline is arranged and completed, the flow is optimized according to the test time and the test difficulty, test points and sensors are arranged according to specific test requirements, the configuration of the acquisition parameters of the test system is completed, the test program is operated, and the data collection and real-time display are completed; and for the internal field test, determining a test flow, and controlling the environment and motion control subsystem to move so as to execute a test task and finish data collection.
Developing the test evaluation research steps of the high-speed intelligent unmanned ship test under the preset complex environment, and specifically comprising the following steps of: in the test evaluation stage, analyzing and evaluating data acquired in the test process, including evaluating the states, basic performances and autonomous performance contents of unmanned ship equipment and systems;
the specific testing process of the internal and external field fusion in the preset complex environment comprises a basic process of performing complex environment test tests of different task backgrounds, is used for performing analog simulation on the marine comprehensive environment of sea conditions below 5, is loaded on the unmanned ship through a testing platform, and comprehensively performs the performance test of a key system, the test and the evaluation of the autonomous control capability and the task planning capability in different task backgrounds in a mode of combining the internal field with the external field; and verifying the relevant reliability index under the high sea condition by constructing a high sea condition extrapolation model based on the real sea condition data.
According to the technical scheme, the unmanned ship testing system provided by the embodiment of the invention comprises an internal field testing subsystem and an external field testing subsystem; the internal field test subsystem is used for constructing simulation scenes of various environments and targets so as to realize the equivalent test of the unmanned ship during marine navigation and task execution; the external field test subsystem is used for constructing a marine test field to perform external field test items and verifying the test result of the internal field, so that the embodiment of the invention realizes the equivalent test of the unmanned ship in the marine navigation and task execution process through the internal field test subsystem and the external field test subsystem, and simultaneously constructs the marine test field to perform the external field test items and can verify the test result of the internal field through the marine test field. The unmanned ship test system provided by the embodiment of the invention meets the test requirement of the unmanned ship and fills the blank of unmanned ship test.
It is to be understood that additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a specific test flow chart of fusion of an internal field and an external field of an unmanned surface vehicle test system in a complex environment according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a task-oriented test scenario and process generation according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an infield comprehensive test platform according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating an environmental simulation and motion simulation subsystem according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an environmental and motion control subsystem according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a deployment of a vision simulation subsystem according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a networked integrated test subsystem according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a data analysis and capability assessment system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a shore-based telemetry subsystem provided in accordance with an embodiment of the present invention;
fig. 10 is a block diagram of a design of a boat-end navigation information and evaluation element acquisition module according to an embodiment of the present invention;
fig. 11 is a schematic diagram of an on-board test subsystem 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 and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, 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.
In the aspect of testing and evaluating the manned boat, the test of the relevant platform performance, such as single test of power, endurance, electromechanical performance and the like, has mature and effective testing capability, so that the relevant testing technology of the manned boat can be used for reference for the conventional test of the unmanned boat platform. However, the application of the intelligent unmanned ship technology brings new evaluation requirements for the test and evaluation of the unmanned ship, such as system performance, autonomous control capability and the like. Particularly, for testing and evaluation in the aspects of complex environment and limit conditions, a blank exists in various aspects such as a standard system, a test technology and the like at home at present. The design core of the high-speed intelligent unmanned ship performance testing system is that based on research and construction of a testing environment, a comprehensive testing platform is used as a carrier, and testing and evaluation capabilities of power, mobility, communication, autonomous control and the like of the high-speed intelligent unmanned ship are achieved. The unmanned ship test system provided by the invention is explained in detail by specific embodiments.
Fig. 1 shows a specific test flowchart of internal and external field fusion in a complex environment according to an embodiment of the present invention, and as shown in fig. 1, an unmanned ship test system according to an embodiment of the present invention includes: an internal field test subsystem and an external field test subsystem;
the internal field test subsystem is used for constructing simulation scenes of various environments and targets so as to realize the equivalent test of the unmanned ship during marine navigation and task execution;
the external field test subsystem is used for constructing a marine test field to perform an external field test project and verifying a test result of an internal field.
In this embodiment, according to the requirement analysis of the high-speed intelligent unmanned ship test system, the test system should have the following main functions: 1. comprises an internal field testing subsystem and an external field testing subsystem. The outfield test subsystem needs to construct a marine test field, various measurement devices are distributed in a test sea area, boat-mounted test equipment is mounted on an unmanned ship to be tested, remote-control test equipment is distributed on a shore base, information is acquired, transmitted and stored in the unmanned ship test process, and a test result is finally given. The external field test subsystem is mainly used for developing test items which are difficult to implement by an internal field and verifying related test results of the internal field. The internal field test subsystem realizes equivalent test of unmanned ship marine navigation and task execution processes by constructing simulation scenes of various environments and targets, and finishes a high-efficiency controllable test process. 2. A motion simulation function. The motion simulation subsystem is mainly responsible for the test of the swinging/inclining of the unmanned ship, is realized by adopting a six-degree-of-freedom motion platform, and can realize the independent transverse/transverse and longitudinal/longitudinal motions of a ship body or the compound motion of two degrees of freedom, thereby realizing the simulation of the swinging motion attitude of the unmanned ship under different sea conditions. 3. And (4) a natural environment simulation function. Through the spraying, heating and cooling system in the box, the simulation of complex marine environments such as high and low temperature, humidity, salt fog and the like in the box body is realized, and time-sharing control can be realized. 4. And electromagnetic interference environment simulation function. Can generate a vivid electromagnetic interference environment, and applies interference to the navigation and communication equipment of the unmanned ship to be tested in the form of radiation or injection. 5. And (4) a target simulation function. The method can generate a typical target with azimuth characteristics and perspective characteristics, has radar reflection characteristics and photoelectric recognition characteristics, and can be captured by related detection equipment.
According to the technical scheme, the unmanned ship testing system provided by the embodiment of the invention comprises an internal field testing subsystem and an external field testing subsystem; the internal field test subsystem is used for constructing simulation scenes of various environments and targets so as to realize the equivalent test of the unmanned ship during marine navigation and task execution; the external field test subsystem is used for constructing a marine test field to perform external field test items and verifying the test result of the internal field, so that the embodiment of the invention realizes the equivalent test of the unmanned ship in the marine navigation and task execution process through the internal field test subsystem and the external field test subsystem, and simultaneously constructs the marine test field to perform the external field test items and can verify the test result of the internal field through the marine test field. The unmanned ship test system provided by the embodiment of the invention meets the test requirement of the unmanned ship and fills the blank of unmanned ship test.
The following describes the evaluation system design of the following embodiment of the present invention.
1. Evaluation procedure study
The task-oriented evaluation flow research is further detailed for the design of a test scheme and comprises test design, test implementation and test evaluation. The main scheme is as follows:
first, develop a task-oriented test design
The method mainly comprises the steps of designing test subjects and evaluation contents according to the requirement input of a test object, namely a task background, designing models, environments and the like on the basis of all the test subjects, and optimally designing test channels. In this subject, a study on input of a test requirement is carried out, and at the same time, design and construction of a test environment and instruction generation of a motion model of an unmanned boat motion stage are mainly completed in this stage, and this can be used as one of platform motion elements to drive a platform.
Second, develop the design of the testing process of the internal and external field test
In the test implementation stage, the test implementation stage comprises an external field test and an internal field test, for the external field test, a test outline is arranged and completed, test points and sensors are arranged according to test time, test difficulty and other optimization processes according to specific test requirements, the configuration of the acquisition parameters of the test system is completed, a test program is operated, and data collection and real-time display are completed; for the internal field test, firstly, a test flow is arranged, then the environment and motion control subsystem is controlled to move, and finally, a test task is executed to complete data collection.
Thirdly, carrying out test evaluation research on high-speed intelligent unmanned ship in complex environment
In the test evaluation stage, data acquired in the test process are analyzed and evaluated, and according to the research thought of the subject, the unmanned ship equipment and system state, basic performance, autonomous performance and the like are mainly evaluated.
The specific test flow of the internal and external field fusion in the complex environment is shown in fig. 1. The basic process of complex environment test tests of different task backgrounds can be carried out, the marine comprehensive environment of sea conditions below 5 levels can be simulated, the test platform is loaded on the unmanned ship, and the tests and evaluations of key system performance tests, autonomous control capability, task planning capability and the like under different task backgrounds can be carried out comprehensively in a mode of combining an internal field and an external field; meanwhile, the construction of a high sea condition extrapolation model based on real sea condition data can give consideration to examination and verification of relevant reliability indexes under high sea conditions. The platform not only solves the problem of testing under the complex environment of the existing unmanned ship, but also can support and verify the design and research of the unmanned ship. The design indexes of the unmanned ship are verified through the test platform, iteration is carried out continuously, and the design level and the development progress of the unmanned ship are improved.
2. Standard and Standard research for test and evaluation
After the relevant evaluation system, typical project, basic flow and the like are relatively mature and solidified and have certain operability, the research of the test and evaluation standard specification is developed, and the technical achievements of the standard system, the test method, the test flow and the like before the project are summarized to form a feasible and reliable evaluation standard specification, which is shown in fig. 2.
3. Comprehensive test question bank and evaluation process
The detailed evaluation of the task capability of the unmanned ship can be given only by combining the internal and external field test data, and the test question bank and the evaluation flow are designed and established on the premise of determining the test items, so that the input is provided for the specific implementation of the test and the design of the platform.
1) Task type determination
Aiming at the project, the task type of the comprehensive assessment of the unmanned ship mainly comprises the following steps: marine transportation tasks and marine search and rescue tasks;
2) assessment item
And (4) describing assessment items with tasks as backgrounds.
Marine transportation tasks:
the unmanned ship is mainly used for remotely executing a dry liquid cargo supply and conveying task in the marine transportation task, radar photoelectricity is mainly used as a basic task load on the ship, a transportation destination coordinate is given, the unmanned ship sets air route, speed and other information according to the type and quality of cargo, and temporary obstacles or communication interference may occur in the transportation process.
Maritime search and rescue tasks:
the maritime search and rescue task mainly executes search and rescue tasks of help seeking personnel sending signals in a specific sea area, the ship load mainly takes radar photoelectricity and search and rescue equipment as basic task loads, basic information of a search and rescue target sea area is given, unmanned ships plan and deploy tasks according to the sea area, navigation information such as air routes, navigation speed and search and rescue modes is set, and temporary obstacles or communication interference may occur in the search and rescue process.
TABLE 1 task basic elements
3) Environment construction
According to the task background of a test project, a relevant test scene is constructed on a test platform, and the relevant test scene mainly comprises a mechanical environment, a natural environment, photoelectric and radar targets, interference signals and the like.
In a basic single test, various environments can be fused and superposed through an environment loading system, and test condition input of a complex environment is constructed.
The mechanical environment is realized through the swing table in the project, the natural environment is realized through the salt spray temperature and humidity test box, the photoelectric and radar targets are realized through corresponding target simulators, and the interference signals are realized through the signal simulators.
4) Test node
The comprehensive test node of the unmanned surface vehicle comprises but is not limited to:
a) control signal test data;
b) task system test data;
c) task load test data;
d) system state data;
e) vibration data, etc.;
f) simulating track data;
meanwhile, for environment construction data, recording is required in the loading process:
a) rocking platform overload data;
b) loading data of temperature, humidity and salt spray;
c) electromagnetic interference signal data;
d) photoelectric and radar analog signal data, and the like.
5) Score criteria
And for the test items of different task backgrounds, defining the standard of each task score, and giving a defined description for the weight of the test data according to the task type. Regarding scoring labels, for different projects, due to different purposes, the weighting factors of different factors may be different, and this work needs to be optimized and adjusted for different tasks in an actual process.
The test system was functionally analyzed as follows:
according to the demand analysis of the high-speed intelligent unmanned ship test system, the test system has the following main functions:
(1) comprises an internal field testing subsystem and an external field testing subsystem. The outfield test subsystem needs to construct a marine test field, various measurement devices are distributed in a test sea area, boat-mounted test equipment is installed on an unmanned ship to be tested, remote test equipment is distributed on a shore base, information is acquired, transmitted and stored in the unmanned ship test process, and finally a test result is given. The external field test subsystem is mainly used for developing test items which are difficult to implement by an internal field and verifying related test results of the internal field. The internal field test subsystem realizes equivalent test of unmanned ship marine navigation and task execution processes by constructing simulation scenes of various environments and targets, and finishes a high-efficiency controllable test process.
(2) A motion simulation function. The motion simulation subsystem is mainly responsible for the test of the swinging/inclining of the unmanned ship, is realized by adopting a six-degree-of-freedom motion platform, and can realize the independent transverse/transverse and longitudinal/longitudinal motions of a ship body or the compound motion of two degrees of freedom, thereby realizing the simulation of the swinging motion attitude of the unmanned ship under different sea conditions.
(3) And (4) a natural environment simulation function. Through the spraying, heating and cooling system in the box, the simulation of complex marine environments such as high and low temperature, humidity, salt fog and the like in the box body is realized, and time-sharing control can be realized.
(4) And electromagnetic interference environment simulation function. Can generate a vivid electromagnetic interference environment, and applies interference to the navigation and communication equipment of the unmanned ship to be tested in the form of radiation or injection.
(5) And (4) a target simulation function. The method can generate a typical target with azimuth characteristics and perspective characteristics, has radar reflection characteristics and photoelectric recognition characteristics, and can be captured by related detection equipment.
The design of the lower infield comprehensive test technology platform is described below with reference to fig. 3-8.
The infield comprehensive test platform is a distributed and networked unmanned ship performance comprehensive test verification system which integrates environment simulation, environment/target simulation, signal acquisition, data transmission, information processing and capability evaluation, and mainly completes performance test and evaluation of the unmanned ship in a complex environment. As shown in FIG. 3, the system includes an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a scene simulation subsystem, a networked integrated test subsystem, and a data analysis and capability evaluation system.
Referring to the environmental simulation and motion simulation subsystem shown in fig. 4, the environmental simulation and motion simulation subsystem simulates the marine environment by using a high-performance computer and professional modeling software as carriers and based on actual measurement environmental data and a combat mission mode, wherein the software comprises natural environment data modeling software, mechanical environment data modeling software, electromagnetic interference model data software, sensor target generation software and a virtual engine, comprehensive environment model construction software and mission test scheme generation software, and constructs a virtual test environment.
The environment and motion control system shown in fig. 5 is composed of a motion simulation subsystem, a temperature, humidity and salt fog environment simulation subsystem, and an electromagnetic environment simulation subsystem. And controlling various simulation devices to finish the simulation of the environment according to the commands of the simulation signal output system.
According to the positioning of each subsystem, the main functions are as follows:
1) a motion simulation subsystem:
and executing the swing action according to the model data.
2) Humiture, salt fog environmental simulation subsystem:
realizing a temperature index according to the model data;
realizing a humidity index according to the model data;
realizing the salt fog concentration index according to the model data;
virtual visual access;
and simulating test chart access.
3) The electromagnetic interference environment simulation subsystem:
realizing communication system interference according to the model data;
and realizing positioning system interference according to the model data.
The visual simulation subsystem shown in fig. 6 includes a projection screen, a projection device, a fusion control device, a network device, a computer, and a switching matrix. The visual simulation subsystem is arranged on the front side of the inner field motion simulation platform, so that the unmanned ship optical equipment can effectively acquire visual information of the system. The basic layout is shown in fig. 6, which is mainly divided according to the projection area of the circular screen, the training area and the deduction.
The networked comprehensive test subsystem shown in fig. 7 is composed of an environment detection subsystem, a test control center, an operation monitoring node, an electromagnetic environment monitoring node, a video monitoring node, an airborne test subsystem and a stern test node.
The data analysis and capability evaluation system shown in fig. 8 mainly simulates the whole process of executing a task after an unmanned ship receives a combat task, and covers the contents of task planning, task re-planning and the like. The system mainly comprises: the system comprises a scene construction platform, an intelligent evolution platform, a simulation test system, a data analysis module and an evaluation service.
For the simulation test of the task function, the simulation of a complex marine environment and various test scenes can be realized by using the test scenes generated by the scene construction platform in the simulation service, the test scene data is read by using the test simulator, the situation information is generated and output to the single-boat control computer, the information such as single unmanned boat environment perception, navigation control and the like is displayed on the single-boat control console, the information such as cluster structure, cluster situation and the like is displayed on the cooperative control console, and the simulation test of the task function and cluster formation control of the single boat is completed. For simulation test of the intelligent algorithm, real boat collected data is stored and labeled on an intelligent evolution platform to form an algorithm training set and a verification set, and for the algorithm trained and verified on the intelligent evolution platform, the algorithm is deployed to a boat-end reasoning end, and the simulation test of the intelligent algorithm is completed in the task function process. And the test data generated by the real boat and the simulation test can be subjected to track precision analysis and test data playback through the data analysis module, and the test is evaluated through the evaluation service according to the grading rule. The evaluation system scheme is shown in detail in FIG. 8.
The design of the outfield test system provided by the embodiment of the invention is described below with reference to fig. 9-11. The outfield real boat comprehensive test system consists of an onboard test subsystem and a shore-based remote measurement subsystem. The method is characterized in that the ship body vibration and structural stress test is carried out at the unmanned ship marine real ship test stage by the gravity point, and the functions of path planning and execution, autonomous global obstacle avoidance, target tracking and the like in the navigation process are tested.
As shown in fig. 9, the shore-based remote measurement subsystem forms a communication and monitoring network covering the whole test field of the outfield by arranging relay wireless communication stations along the shore of the test field and combining with the offshore relay device, thereby realizing the interconnection of everything among a plurality of test devices in the test field and completing the monitoring and control of the tested object, each test device and the marine environment in the test field. Meanwhile, the shore-based remote measurement subsystem is also interconnected with the internal field data analysis and capability evaluation center in real time through a broadband network, so that seamless connection of the internal field and the external field is ensured. A shore-based telemetry subsystem is shown in fig. 9.
As shown in fig. 11, in a ship-based test subsystem, an unmanned ship needs a safe and reliable ship platform and a power system in a highly dynamic and unpredictable marine environment, and is very important for testing the performance of the ship, the power performance and the performance of the unmanned ship.
In the aspect of basic performance tests of ships with power performance and the like, the method mainly aims at carrying out real-time online measurement on shaft power and torsional vibration stress of systems with power propulsion and the like on the ships, combines a torque (stress) strain type test technology, a wireless transmission technology and instrument and equipment digitization, and is mainly based on that a telemetering strain gauge receiver outputs an analog signal when a real ship power system tests transmission efficiency, develops hardware and programs of an on-board test subsystem, researches a test device and a measurement method, and realizes transmission performance tests. According to the requirements of the unmanned ship power system, the system is designed into a measurement and analysis system formed by combining a rotating speed sensor, a remote measuring strain gauge, a shaft-attached resistance strain measurement bridge circuit, an interface controller and a set of upper computer software. The system is characterized in that a bridge type strain gauge senses a propulsion shaft strain signal, the propulsion shaft strain signal is subjected to signal processing through a remote strain gauge and is transmitted through a remote strain gauge transmitter, a remote strain gauge receiver receives the strain signal, and the signal is transmitted to an upper computer through an interface controller together with a propulsion shaft system rotating speed signal acquired by a rotating speed sensor.
The navigation path planning and execution, autonomous global obstacle avoidance, target tracking and other functions of the unmanned ship are based on high-accuracy real-time positioning when the unmanned ship is in navigation, main evaluation elements comprise course, navigation speed, real-time position and the like, corresponding evaluation parameters can be obtained in real time by utilizing parameter sensors such as compass, inertial navigation and differential GPS (global positioning system) installed at a ship end, and data are transmitted back to a shore-based command center through a ship-shore-sea multi-end data communication network and are imported into a database. The design block diagram of the boat-end navigation information and evaluation element acquisition module is shown in figure 10.
The on-board test subsystem shown in fig. 11 is deployed on an unmanned ship to be tested, and is responsible for collecting stresses such as vibration, tension, temperature, humidity and the like actually borne by a tested object, attitude changes of multiple parts, accurate positions and the like, and receiving output information of each device on the ship through various extended communication interfaces. The acquired data is preprocessed and then transmitted to a shore-based remote measuring subsystem through wireless transmission equipment.
Based on the content of the foregoing embodiment, in this embodiment, the internal field testing subsystem includes: the system comprises an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a scene simulation subsystem, a networked comprehensive test subsystem and a data analysis and capability evaluation system;
the environment simulation and motion simulation subsystem is used for constructing a marine virtual test environment by taking modeling software as a carrier and actual measurement environment data and a combat mission mode as a basis;
the environment and motion control subsystem is used for simulating a temperature and humidity environment, a salt fog environment, an electromagnetic environment and motion actions;
the visual simulation subsystem is used for being deployed at the front side of the interior motion simulation platform and constructing visual information in the test process;
the networked comprehensive test subsystem is used for constructing a networked comprehensive test system comprising environment monitoring, test control, operation control, electromagnetic environment monitoring, video monitoring, ship-borne test and ship tail test;
the data analysis and capability evaluation system is used for simulating the whole process of executing the task after the unmanned ship receives the combat task and carrying out data analysis on the whole process.
Based on the content of the foregoing embodiment, in this embodiment, the environmental simulation and motion simulation subsystem includes: the system comprises a computer, a server, natural environment data modeling software, mechanical environment data modeling software, electromagnetic interference model data software, sensor target generation software, a virtual engine, comprehensive environment model construction software and task test scheme generation software;
the computer is used for acquiring environmental data and a combat task mode in a testing process and sending the acquired environmental data and the acquired combat task mode to the server, and the server sends the environmental data and the combat task mode to the natural environment data modeling software, the mechanical environment data modeling software, the electromagnetic interference model data software, the sensor target generation software and the virtual engine, the comprehensive environment model construction software and the task testing scheme generation software so as to construct a marine virtual testing environment.
Based on the content of the foregoing embodiment, in this embodiment, the environment and motion control subsystem includes: the system comprises a six-degree-of-freedom swing test bed, a temperature and humidity salt spray test box, a signal generator, a microwave power meter, a power amplifier and a signal analyzer;
the six-degree-of-freedom swing test bed is used for forming a motion simulation subsystem, the temperature and humidity salt fog test box is used for forming a temperature and humidity and salt fog environment simulation subsystem, and the signal generator, the microwave power meter, the power amplifier and the signal analyzer are used for forming an electromagnetic environment simulation subsystem.
Based on the content of the foregoing embodiment, in this embodiment, the visual simulation subsystem includes a projection curtain, a projection device, a fusion control device, a network device, a computer, and a switching matrix.
Based on the content of the foregoing embodiment, in this embodiment, the networked comprehensive test subsystem includes an environment monitoring subsystem, a test control center, an information switching network, a power supply and distribution system, and an on-board test subsystem;
the environment monitoring subsystem comprises a natural environment monitoring node, a motion monitoring node, an electromagnetic environment monitoring node and a video monitoring node;
the boat-borne test subsystem comprises a boat head test node and a boat tail test node; the hull head test node and the hull tail test node respectively comprise a node controller, a vibration sensor, a structural strain sensor, an attitude sensor, a communication interface expansion module, a wireless transmission module, a differential positioning receiver, a temperature and humidity sensor and a rotation angle sensor;
the information exchange network comprises a network switch, a bus network, a wireless gateway and a communication interface expansion unit;
the power supply and distribution system comprises a power distribution controller, a UPS and a power supply state monitoring device.
Based on the content of the foregoing embodiment, in this embodiment, the data analysis and capability evaluation system includes: the system comprises a scene construction platform, an intelligent evolution platform, a simulation test system, a data analysis module and an evaluation service;
for the simulation test of the task function, the simulation of the marine environment and various test scenes is realized through the test scenes generated by the scene construction platform, the test scene data is read by using a test simulator, the situation information is generated and output to a single-boat control computer, the single-unmanned-boat environment perception and navigation control information is displayed on a single-boat console, and the cluster structure and the cluster situation information are displayed on a cooperative console, so that the simulation test of the task function and the cluster formation control of the single boat is completed;
for the simulation test of the intelligent algorithm, real boat acquisition data is stored and marked on the intelligent evolution platform to form an algorithm training set and a verification set, and the algorithm trained and verified on the intelligent evolution platform is deployed to a boat-end reasoning end to complete the simulation test of the intelligent algorithm in the task function process; and the test data generated by the real boat and the simulation test are subjected to track precision analysis and test data playback through the data analysis module, and the test is evaluated through the evaluation service according to a preset scoring algorithm.
Based on the content of the foregoing embodiment, in this embodiment, the outfield test subsystem includes: a shore-based remote measurement subsystem and a ship-based test subsystem;
the shore-based remote measurement subsystem is used for constructing a communication and monitoring network covering an external field test field area by arranging relay type wireless communication stations along the shore of the test field and combining an offshore relay device, realizing the interconnection of everything of a plurality of test devices in the test field, and completing the monitoring and control of a tested object, each test device and the marine environment in the test field;
the shipborne testing subsystem is deployed on the unmanned ship to be tested and used for acquiring the vibration, the stretching, the temperature and the humidity stress actually borne by the unmanned ship to be tested, the posture changes and the positions of multiple parts, preprocessing acquired data, sending the preprocessed data to the shore-based remote measuring subsystem through wireless transmission equipment, and receiving the output information of each device on the unmanned ship to be tested through the expanded communication interface.
Based on the content of the foregoing embodiments, in this embodiment, the shore-based telemetry subsystem includes: the system comprises a marine multi-parameter distributed test system and a ship shore sea multi-terminal data communication network; the offshore multi-parameter distributed test system comprises a shore-based perception sensor unit, an unmanned shipborne perception sensor unit and a multi-sensor buoy unit; the shore sea multi-terminal data communication network comprises a wireless communication network, radio communication, a broadband network and satellite communication;
the ship-borne test subsystem comprises: the device comprises an upper computer, a radio station A, a radio station B, a bus, an anemometer, an attitude indicator, a torque sensor, an optical speed sensor, an electronic compass and a GPS which are positioned on a ship body, a wave buoy receiver and an SZF wave buoy positioned on the sea.
Based on the same inventive concept, another embodiment of the present invention provides an unmanned ship testing method based on the unmanned ship testing system according to the above embodiment, including:
the step of developing a task-oriented test design specifically comprises: designing test subjects and evaluation contents according to the requirement input of a test object, designing a model and an environment on the basis of each test subject, optimizing a design test channel, and completing the design and construction of a test environment and the instruction generation of an unmanned ship motion platform motion model to serve as one of platform motion elements for platform driving;
the design step of the test flow for developing the internal and external field tests specifically comprises the following steps: in the test implementation stage, the test implementation stage comprises an external field test and an internal field test, for the external field test, a test outline is arranged and completed, the flow is optimized according to the test time and the test difficulty, test points and sensors are arranged according to specific test requirements, the configuration of the acquisition parameters of the test system is completed, the test program is operated, and the data collection and real-time display are completed; and for the internal field test, determining a test flow, and controlling the environment and motion control subsystem to move so as to execute a test task and finish data collection.
Developing the test evaluation research steps of the high-speed intelligent unmanned ship test under the preset complex environment, and specifically comprising the following steps of: in the test evaluation stage, analyzing and evaluating data acquired in the test process, including evaluating the states, basic performances and autonomous performance contents of unmanned ship equipment and systems;
the specific testing process of the internal and external field fusion in the preset complex environment comprises a basic process of performing complex environment test tests of different task backgrounds, is used for performing analog simulation on the marine comprehensive environment of sea conditions below 5, is loaded on the unmanned ship through a testing platform, and comprehensively performs the performance test of a key system, the test and the evaluation of the autonomous control capability and the task planning capability in different task backgrounds in a mode of combining the internal field with the external field; and verifying the relevant reliability index under the high sea condition by constructing a high sea condition extrapolation model based on the real sea condition data.
According to the scheme of the embodiment of the invention, the embodiment of the invention meets the test requirements of the unmanned ship, such as system performance, autonomous control capability and the like. Particularly, the test and evaluation aiming at the complex environment and the limit condition are realized, and the blank existing in various aspects such as a standard system, a test technology and the like in China at present is filled.
Furthermore, in the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but 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 (10)
1. An unmanned boat testing system, comprising: an internal field test subsystem and an external field test subsystem;
the infield test subsystem is used for constructing simulation scenes of various environments and targets so as to realize the equivalent test of the unmanned ship in the process of sailing at sea and executing tasks;
the external field test subsystem is used for constructing a marine test field to perform an external field test project and verifying a test result of an internal field.
2. The unmanned boat test system of claim 1, wherein the infield test subsystem comprises: the system comprises an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a scene simulation subsystem, a networked comprehensive test subsystem and a data analysis and capability evaluation system;
the environment simulation and motion simulation subsystem is used for constructing a marine virtual test environment by taking modeling software as a carrier and actual measurement environment data and a combat mission mode as a basis;
the environment and motion control subsystem is used for simulating a temperature and humidity environment, a salt fog environment, an electromagnetic environment and motion actions;
the visual simulation subsystem is used for being deployed at the front side of the interior motion simulation platform and constructing visual information in the test process;
the networked comprehensive test subsystem is used for constructing a networked comprehensive test system comprising environment monitoring, test control, operation control, electromagnetic environment monitoring, video monitoring, ship-borne test and ship tail test;
the data analysis and capability evaluation system is used for simulating the whole process of executing the task after the unmanned ship receives the combat task and carrying out data analysis on the whole process.
3. The unmanned boat test system of claim 2, wherein the environmental simulation and motion simulation subsystem comprises: the system comprises a computer, a server, natural environment data modeling software, mechanical environment data modeling software, electromagnetic interference model data software, sensor target generation software, a virtual engine, comprehensive environment model construction software and task test scheme generation software;
the computer is used for acquiring environmental data and a combat task mode in a testing process and sending the acquired environmental data and the acquired combat task mode to the server, and the server sends the environmental data and the combat task mode to the natural environment data modeling software, the mechanical environment data modeling software, the electromagnetic interference model data software, the sensor target generation software and the virtual engine, the comprehensive environment model construction software and the task testing scheme generation software so as to construct a marine virtual testing environment.
4. The unmanned boat testing system of claim 2, wherein the environmental and motion control subsystem comprises: the system comprises a six-degree-of-freedom swing test bed, a temperature and humidity salt spray test box, a signal generator, a microwave power meter, a power amplifier and a signal analyzer;
the six-degree-of-freedom swing test bed is used for forming a motion simulation subsystem, the temperature and humidity salt fog test box is used for forming a temperature and humidity and salt fog environment simulation subsystem, and the signal generator, the microwave power meter, the power amplifier and the signal analyzer are used for forming an electromagnetic environment simulation subsystem.
5. The unmanned ship test system of claim 2, wherein the vision simulation subsystem comprises a projection screen, a projection device, a convergence control device, a network device, a computer, and a switching matrix.
6. The unmanned ship test system of claim 2, wherein the networked integrated test subsystem comprises an environmental monitoring subsystem, a test control center, an information exchange network, a power supply and distribution system, and an on-board test subsystem;
the environment monitoring subsystem comprises a natural environment monitoring node, a motion monitoring node, an electromagnetic environment monitoring node and a video monitoring node;
the boat-borne test subsystem comprises a boat head test node and a boat tail test node; the hull head test node and the hull tail test node respectively comprise a node controller, a vibration sensor, a structural strain sensor, an attitude sensor, a communication interface expansion module, a wireless transmission module, a differential positioning receiver, a temperature and humidity sensor and a rotation angle sensor;
the information exchange network comprises a network switch, a bus network, a wireless gateway and a communication interface expansion unit;
the power supply and distribution system comprises a power distribution controller, a UPS and a power supply state monitoring device.
7. The unmanned boat testing system of claim 2, wherein the data analysis and capability assessment system comprises: the system comprises a scene construction platform, an intelligent evolution platform, a simulation test system, a data analysis module and an evaluation service;
for the simulation test of the task function, the simulation of the marine environment and various test scenes is realized through the test scenes generated by the scene construction platform, the test scene data is read by using a test simulator, the situation information is generated and output to a single-boat control computer, the single-unmanned-boat environment perception and navigation control information is displayed on a single-boat console, and the cluster structure and the cluster situation information are displayed on a cooperative console, so that the simulation test of the task function and the cluster formation control of the single boat is completed;
for the simulation test of the intelligent algorithm, real boat collected data is stored and marked on the intelligent evolution platform to form an algorithm training set and a verification set, and for the algorithm after training and verification on the intelligent evolution platform, the algorithm is deployed to a boat-end reasoning end, and the simulation test of the intelligent algorithm is completed in the task function process; and the test data generated by the real boat and the simulation test are subjected to track precision analysis and test data playback through the data analysis module, and the test is evaluated through the evaluation service according to a preset scoring algorithm.
8. The unmanned boat test system of claim 1, wherein the outfield test subsystem comprises: a shore-based remote measurement subsystem and a ship-based test subsystem;
the shore-based remote measurement subsystem is used for constructing a communication and monitoring network covering an external field test field area by arranging relay type wireless communication stations along the shore of the test field and combining an offshore relay device, realizing the interconnection of everything of a plurality of test devices in the test field, and completing the monitoring and control of a tested object, each test device and the marine environment in the test field;
the shipborne testing subsystem is deployed on the unmanned ship to be tested and used for acquiring the vibration, the stretching, the temperature and the humidity stress actually borne by the unmanned ship to be tested, the posture changes and the positions of multiple parts, preprocessing acquired data, sending the preprocessed data to the shore-based remote measuring subsystem through wireless transmission equipment, and receiving the output information of each device on the unmanned ship to be tested through the expanded communication interface.
9. The unmanned boat testing system of claim 8, wherein the shore-based telemetry subsystem comprises: the system comprises a marine multi-parameter distributed test system and a ship shore sea multi-terminal data communication network; the offshore multi-parameter distributed test system comprises a shore-based perception sensor unit, an unmanned shipborne perception sensor unit and a multi-sensor buoy unit; the shore sea multi-terminal data communication network comprises a wireless communication network, radio communication, a broadband network and satellite communication;
the ship-borne test subsystem comprises: the device comprises an upper computer, a radio station A, a radio station B, a bus, an anemometer, an attitude indicator, a torque sensor, an optical speed sensor, an electronic compass and a GPS which are positioned on a ship body, a wave buoy receiver and an SZF wave buoy positioned on the sea.
10. An unmanned ship testing method based on the unmanned ship testing system according to any one of claims 1-9, comprising:
the step of developing a task-oriented test design specifically comprises: designing test subjects and evaluation contents according to the requirement input of a test object, designing a model and an environment on the basis of each test subject, optimizing a design test channel, and completing the design and construction of a test environment and the instruction generation of an unmanned ship motion platform motion model to serve as one of platform motion elements for platform driving;
the design step of the test flow for developing the internal and external field tests specifically comprises the following steps: in the test implementation stage, the test implementation stage comprises an external field test and an internal field test, for the external field test, a test outline is arranged and completed, the flow is optimized according to the test time and the test difficulty, test points and sensors are arranged according to specific test requirements, the configuration of the acquisition parameters of the test system is completed, the test program is operated, and the data collection and real-time display are completed; and for the internal field test, determining a test flow, and controlling the environment and motion control subsystem to move so as to execute a test task and finish data collection.
Developing the test evaluation research steps of the high-speed intelligent unmanned ship test under the preset complex environment, and specifically comprising the following steps of: in the test evaluation stage, analyzing and evaluating data acquired in the test process, including evaluating the states, basic performances and autonomous performance contents of unmanned ship equipment and systems;
the specific testing process of the internal and external field fusion in the preset complex environment comprises a basic process of performing complex environment test tests of different task backgrounds, is used for performing analog simulation on the marine comprehensive environment of sea conditions below 5, is loaded on the unmanned ship through a testing platform, and comprehensively performs the performance test of a key system, the test and the evaluation of the autonomous control capability and the task planning capability in different task backgrounds in a mode of combining the internal field with the external field; and verifying the relevant reliability index under the high sea condition by constructing a high sea condition extrapolation model based on the real sea condition data.
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