CN114802640B - Unmanned ship testing system and method - Google Patents

Abstract

The invention provides an unmanned ship testing system and method, wherein the system comprises an inner field testing subsystem and an outer field testing subsystem; the infield test subsystem is used for realizing the equivalent test of the unmanned ship offshore navigation and task execution process by constructing simulation scenes of various environments and targets; the external field test subsystem is used for constructing an offshore test field to carry out external field test projects and verifying test results of an internal field. According to the invention, through the internal field test subsystem and the external field test subsystem, equivalent tests of the unmanned ship in the process of offshore navigation and task execution are realized, and meanwhile, an offshore test field is constructed to carry out external field test projects, and the test result of the internal field can be verified through the offshore test field. The unmanned ship testing system provided by the invention solves the testing requirement of the unmanned ship and fills the blank of unmanned ship testing.

Description

Unmanned ship testing system and method

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 unmanned ship, the performance of the related platform, such as single testing of power, endurance, electromechanical performance and the like, has mature and effective testing capability, so that the related testing technology of the unmanned ship can be used for the conventional testing of the unmanned ship platform. However, the application of the intelligent unmanned ship technology brings new evaluation requirements for the test and evaluation of unmanned ships, such as system performance, autonomous control capability and the like. Especially, aiming at the testing and evaluation in the aspects of complex environment and limit conditions, the method has blank in the aspects of standard systems, test technologies and the like in China at present.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides an unmanned ship testing system and method.

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 infield test subsystem and an outfield test subsystem;

the infield test subsystem is used for realizing the equivalent test of the unmanned ship offshore navigation and task execution process by constructing simulation scenes of various environments and targets;

the external field test subsystem is used for constructing an offshore test field to carry out external field test projects and verifying test results of an internal field.

Further, the infield test subsystem includes: an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a visual simulation subsystem, a networked comprehensive test subsystem and a data analysis and capability assessment system;

the environment simulation and motion simulation subsystem is used for constructing an offshore virtual test environment by taking modeling software as a carrier and taking actual measurement environment data and a combat task mode as the basis;

the environment and motion control subsystem is used for simulating a temperature and humidity environment, a salt spray environment, an electromagnetic environment and motion actions;

The visual simulation subsystem is used for being deployed at the front side of the in-field motion simulation platform to construct 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, on-board test and stern test;

the data analysis and capability assessment 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 environment 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 environment data and a combat task mode in a test process, and sending the acquired environment data and combat task mode to the server, and the server sends the environment data and 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 a virtual engine, the comprehensive environment model construction software and the task test scheme generation software to construct an offshore virtual test environment.

Further, the environment and motion control subsystem includes: six-degree-of-freedom swing test bed, warm and humid salt spray test box, signal generator, microwave power meter, power amplifier and signal analyzer;

the six-degree-of-freedom swing test bed is used for forming a motion simulation subsystem, the warm and humid salt spray test box is used for forming a temperature and humidity and salt spray 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.

Further, the visual simulation subsystem comprises a projection curtain, a projection device, a fusion control device, a network device, a computer and a switching matrix.

Further, the networked comprehensive test subsystem comprises an environment monitoring subsystem, a test control center, an information exchange network, a power supply and distribution system and a boat-mounted 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 on-board test subsystem comprises a bow test node and a stern test node; the boat head test node and the boat tail test node 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 assessment 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 simulation test of task functions, simulation of marine environment and various test scenes is realized through the test scenes generated by the scene construction platform, test scene data are read by using a test matching simulator, situation information is generated and output to a single-boat control computer, single-unmanned-boat environment sensing and navigation control information is displayed on a single-boat control console, cluster structures and cluster situation information are displayed on a cooperative control console, and simulation test of single-boat task functions and cluster formation control is completed;

for the simulation test of the intelligent algorithm, storing and labeling real boat acquisition data on the intelligent evolution platform to form an algorithm training set and a verification set, and deploying the algorithm trained and verified on the intelligent evolution platform 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 an evaluation service according to a preset scoring algorithm.

Further, the outfield testing subsystem comprises: a shore-based telemetry subsystem and a carrier-based test subsystem;

the shore-based telemetry subsystem is used for constructing a communication and monitoring network covering an external field test field by arranging relay type wireless communication stations along the shore of the test field and combining with an offshore relay device, realizing the everything interconnection 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 ocean environment in the test field;

the ship-based test subsystem is deployed on the unmanned ship to be tested and is used for collecting vibration, stretching, temperature and humidity stress actually born by the unmanned ship to be tested, posture change and position of multiple parts, preprocessing collected and obtained data, transmitting the preprocessed data to the shore-based telemetry subsystem through wireless transmission equipment, and receiving output information of all equipment on the unmanned ship to be tested through an expansion communication interface.

Further, the shore-based telemetry sub includes: an offshore multi-parameter distributed test system and a boat shore marine multi-terminal data communication network; the offshore multi-parameter distributed test system comprises a shore-based sensing sensor unit, an unmanned ship-borne sensing sensor unit and a multi-sensor buoy unit; the boat shore marine multi-terminal data communication network comprises a wireless communication network, radio communication, a broadband network and satellite communication;

The carrier-based test subsystem comprises: the marine wave buoy comprises an upper computer, a radio station A, a radio station B, a bus, an anemometer, an attitude meter, a torque sensor, an optical speed measuring sensor, an electronic compass and a GPS which are arranged on a ship body, a wave buoy receiver and a SZF wave buoy arranged on the sea.

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: according to the requirement input of a test object, designing a test subject and evaluating content, designing a model and an environment, optimizing a test channel on the basis of each test subject, completing the design and construction of the test environment and the instruction generation of the unmanned ship movement table movement model, and taking the test environment as one of platform movement elements to drive a platform;

developing the design steps of the test flow of the internal and external field test, which specifically comprises the following steps: in the test implementation stage, an outline of the test is arranged and completed for the external field test, the test points and the sensor are arranged according to the test time and the test difficulty optimizing flow, the configuration of the acquisition parameters of the test system is completed, the test program is operated, and the collection and real-time display of data are completed; for the internal field test, determining a test flow, and controlling the motion of the environment and motion control subsystem to execute a test task to complete data collection.

The test, evaluation and research steps of the high-speed intelligent unmanned ship under the preset complex environment are carried out, and the method specifically comprises the following steps: in the test evaluation stage, analyzing and evaluating the data acquired in the test process, including evaluating the unmanned ship equipment and system state, basic performance and autonomous performance content;

the method comprises the steps that a specific testing process of fusion of an internal field and an external field under a preset complex environment comprises a basic process of performing complex environment test of different task backgrounds, wherein the basic process is used for performing simulation on an offshore comprehensive environment of 5-level or below sea conditions, loading the comprehensive environment onto an unmanned ship through a test platform, and comprehensively performing test and evaluation on performance test, autonomous control capability and task planning capability of a key system under different task backgrounds in a mode of combining the internal field and 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 inner field testing subsystem and an outer field testing subsystem; the infield test subsystem is used for realizing the equivalent test of the unmanned ship offshore navigation and task execution process by constructing simulation scenes of various environments and targets; the external field test subsystem is used for constructing an offshore test field to carry out external field test projects and verifying test results of an internal field, so that the embodiment of the invention realizes equivalent test of unmanned ships in sea navigation and task execution processes through the internal field test subsystem and the external field test subsystem, and simultaneously constructs the offshore test field to carry out external field test projects and can verify test results of the internal field through the offshore test field. The unmanned ship testing system provided by the embodiment of the invention solves the testing requirement of the unmanned ship and fills the blank of unmanned ship testing.

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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a specific test flow chart of the fusion of internal and external fields of an unmanned ship test system provided by an embodiment of the invention in a complex environment;

FIG. 2 is a schematic diagram illustrating a task-oriented testing scheme and a flow generation according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a comprehensive test platform for a house according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of 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 one embodiment of the present invention;

FIG. 6 is a schematic view of a visual simulation subsystem deployment provided by 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 sub provided in an embodiment of the present invention;

FIG. 10 is a block diagram illustrating a design of a module for collecting information and evaluation elements for voyage at a cargo end according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a shipboard test subsystem according to an embodiment of the invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the aspect of testing and evaluating the unmanned ship, the performance of the related platform, such as single testing of power, endurance, electromechanical performance and the like, has mature and effective testing capability, so that the related testing technology of the unmanned ship can be used for the conventional testing of the unmanned ship platform. However, the application of the intelligent unmanned ship technology brings new evaluation requirements for the test and evaluation of unmanned ships, such as system performance, autonomous control capability and the like. Especially, aiming at the testing and evaluation in the aspects of complex environment and limit conditions, the method has blank in the aspects of standard systems, test technologies and the like in China at present. The design core of the high-speed intelligent unmanned ship performance test system has the significance of realizing the testing and evaluation capability of the capabilities of power, maneuvering, communication, autonomous control and the like of the high-speed intelligent unmanned ship by taking a comprehensive test platform as a carrier based on the research and construction of a test environment. The unmanned ship test system provided by the invention is described in detail below through specific embodiments.

Fig. 1 shows a specific test flow chart of the fusion of an inner field and an outer field in a complex environment according to an embodiment of the present invention, as shown in fig. 1, an unmanned ship test system according to an embodiment of the present invention includes: an infield test subsystem and an outfield test subsystem;

the infield test subsystem is used for realizing the equivalent test of the unmanned ship offshore navigation and task execution process by constructing simulation scenes of various environments and targets;

the external field test subsystem is used for constructing an offshore test field to carry out external field test projects and verifying test results of an internal field.

In this embodiment, according to the demand analysis of the high-speed intelligent unmanned ship test system, the test system should have the following main functions: 1. comprises an inner field test subsystem and an outer field test subsystem. The external field testing subsystem needs to construct an offshore test field, various measuring equipment is distributed in a test sea area, the on-board testing equipment is installed on the unmanned ship to be tested, and the remote measuring equipment is distributed on a shore base, so that information acquisition, transmission and storage in the unmanned ship testing process are realized, and a testing result is finally given. The external field testing subsystem mainly aims at developing test projects which are difficult to implement in the internal field and verifying relevant test results in the internal field. The infield test subsystem realizes the equivalent test of the unmanned ship offshore navigation and task execution process by constructing various environments and target simulation scenes, and completes the efficient and controllable test process. 2. Motion simulation function. The motion simulation subsystem is mainly responsible for the swing/tilt test of the unmanned ship, is realized by adopting a six-degree-of-freedom motion platform, and can realize independent ship body transverse/transverse and longitudinal/longitudinal motions or two-degree-of-freedom compound motions, thereby realizing the simulation of swing motion postures of the unmanned ship under different sea conditions. 3. And a natural environment simulation function. The complex marine environment simulation of high and low temperature, humidity, salt fog and the like in the box body can be realized through the spraying, heating and cooling system in the box body, and the time-sharing control can be realized. 4. Electromagnetic interference environment simulation function. A realistic electromagnetic interference environment can be created, applying interference in the form of radiation or injection to the navigation and communication devices of the unmanned boats to be tested. 5. Target simulation function. Typical targets with azimuth characteristics, perspective characteristics, radar reflection characteristics and photoelectric identification characteristics can be generated and captured by the relevant detection equipment.

According to the technical scheme, the unmanned ship testing system provided by the embodiment of the invention comprises an inner field testing subsystem and an outer field testing subsystem; the infield test subsystem is used for realizing the equivalent test of the unmanned ship offshore navigation and task execution process by constructing simulation scenes of various environments and targets; the external field test subsystem is used for constructing an offshore test field to carry out external field test projects and verifying test results of an internal field, so that the embodiment of the invention realizes equivalent test of unmanned ships in sea navigation and task execution processes through the internal field test subsystem and the external field test subsystem, and simultaneously constructs the offshore test field to carry out external field test projects and can verify test results of the internal field through the offshore test field. The unmanned ship testing system provided by the embodiment of the invention solves the testing requirement of the unmanned ship and fills the blank of unmanned ship testing.

The following describes the design of the evaluation system according to the embodiment of the present invention.

1. Evaluation flow study

The task-oriented evaluation flow study is a further refinement of the design of the experimental test scheme and is divided into test design, test implementation and test evaluation. The main scheme is as follows:

First, develop a mission-oriented test design

The method mainly designs test subjects and evaluation contents according to the requirement input of test subjects, namely task background, designs models, environments and the like on the basis of each test subject, and optimally designs a test channel. In the present subject, research on test requirement input is carried out, and at the same time, the design and construction of a test environment and the instruction generation of an unmanned ship movement table movement model are mainly completed in the present stage, and the test environment can be used as one of platform movement elements to drive a platform.

Second, developing test flow design of internal and external field test

In the test implementation stage, an outline of the test is arranged and completed for the external field test, the test points and the sensor are arranged according to the test time, the test difficulty and other optimization flows, the configuration of the acquisition parameters of the test system is completed, the test program is operated, and the collection and real-time display of data are completed; for the infield test, firstly arranging a test flow, then controlling the motion of the environment and motion control subsystem, and finally executing a test task to complete data collection.

Thirdly, developing test, evaluation and research of high-speed intelligent unmanned ship under complex environment

In the test evaluation stage, the data collected in the test process are analyzed and evaluated, and according to the research thought of the subject, four parts of contents including unmanned ship equipment and system state, basic performance and autonomous performance are mainly evaluated.

The specific test flow of the fusion of the inner field and the outer field in the complex environment is shown in figure 1. The system can carry out basic flow of complex environment test of different task backgrounds, can carry out analog simulation on the offshore comprehensive environment of the sea condition below 5 levels, is loaded on an unmanned ship through a test platform, and can comprehensively carry out test and evaluation of key system performance test, autonomous control capability, task planning capability and the like under different task backgrounds in a mode of combining internal fields and external fields; meanwhile, by constructing a high sea condition extrapolation model based on real sea condition data, the relevant reliability index under the high sea condition can be considered and verified. The platform not only solves the problem of testing in the complex environment of the current unmanned ship, but also can support and verify the design and research of the unmanned ship. And the design indexes of the unmanned ship are verified through the test platform, iteration is continued, and the design level and development progress of the unmanned ship are improved.

2. Test and evaluation criteria specification

After relative maturity and solidification of a related evaluation system, typical projects, basic flow and the like are carried out, after certain operability is achieved, test and evaluation standard specification research is carried out, technical achievements of the current standard system, test method, test flow and the like are summarized, and a feasible and reliable evaluation standard specification is formed, which is specifically shown in figure 2.

3. Comprehensive test question bank and evaluation flow

The detailed evaluation of the unmanned ship task capacity can be given through the combination of the internal field test data and the external field test data, and the design and the establishment of a test question bank and an evaluation flow are carried out on the premise of defining test items, so that input is provided for the specific implementation of the test and the platform design.

1) Task type determination

Aiming at the project, the unmanned ship comprehensive evaluation task type mainly comprises the following steps: a marine transportation task and a marine search and rescue task;

2) Examination item

And (5) describing an examination item by taking the task as a background.

Marine transport tasks:

the unmanned ship is mainly used for remotely executing the dry liquid cargo material supply and conveying task in the marine transportation task execution, radar photoelectricity is mainly used as a basic task load on the unmanned ship, the transportation destination coordinates are given, the unmanned ship sets navigation information such as a route, a speed and the like according to the cargo type and the quality, and temporary barriers or communication interference can occur in the transportation process.

Maritime search and rescue tasks:

the maritime search and rescue task is mainly implemented by a rescue person sending out a signal in a specific sea area, the load on the boat 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, the unmanned boat performs task planning and deployment according to the sea area, and navigation information such as a route, a speed, a search and rescue mode and the like is set, so that temporary obstacle or communication interference can occur in the search and rescue process.

TABLE 1 task basic elements

3) Environment construction

According to the task background of the test project, constructing relevant test scenes on a test platform, wherein the test scenes mainly comprise mechanical environment, natural environment, photoelectric and radar targets, interference signals and the like.

And in the basic single test, various environments can be fused and overlapped through an environment loading system to construct test condition input of a complex environment.

In the project, the mechanical environment is realized through a swinging table, the natural environment is realized through a salt fog temperature and humidity test box, the photoelectric and radar targets are realized through corresponding target simulators, and the interference signals are realized through signal simulators.

4) Test node

Comprehensive test nodes for unmanned surface vessels include, but are 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) Overload data of the swinging table;

b) Humiture and salt fog loading data;

c) Electromagnetic interference signal data;

d) Photoelectric and radar analog signal data, and the like.

5) Score standard

For test items of different task backgrounds, the scoring standard of each task is defined, and a clear explanation is given for the weight of test data according to the task type. Regarding scoring annotations, for different projects, the weighting factors of different factors may be different due to different purposes, and the task needs to be optimized and adjusted for different tasks in the actual process.

The following functional analysis was performed on the test system:

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 inner field test subsystem and an outer field test subsystem. The external field testing subsystem needs to construct an offshore test field, various measuring equipment is distributed in a test sea area, the on-board testing equipment is installed on the unmanned ship to be tested, and the remote measuring equipment is distributed on a shore base, so that information acquisition, transmission and storage in the unmanned ship testing process are realized, and a testing result is finally given. The external field testing subsystem mainly aims at developing test projects which are difficult to implement in the internal field and verifying relevant test results in the internal field. The infield test subsystem realizes the equivalent test of the unmanned ship offshore navigation and task execution process by constructing various environments and target simulation scenes, and completes the efficient and controllable test process.

(2) Motion simulation function. The motion simulation subsystem is mainly responsible for the swing/tilt test of the unmanned ship, is realized by adopting a six-degree-of-freedom motion platform, and can realize independent ship body transverse/transverse and longitudinal/longitudinal motions or two-degree-of-freedom compound motions, thereby realizing the simulation of swing motion postures of the unmanned ship under different sea conditions.

(3) And a natural environment simulation function. The complex marine environment simulation of high and low temperature, humidity, salt fog and the like in the box body can be realized through the spraying, heating and cooling system in the box body, and the time-sharing control can be realized.

(4) Electromagnetic interference environment simulation function. A realistic electromagnetic interference environment can be created, applying interference in the form of radiation or injection to the navigation and communication devices of the unmanned boats to be tested.

(5) Target simulation function. Typical targets with azimuth characteristics, perspective characteristics, radar reflection characteristics and photoelectric identification characteristics can be generated and captured by the relevant detection equipment.

The lower internal field integrated test technology platform design is described below in conjunction with fig. 3-8.

The infield comprehensive test platform is a comprehensive test verification system integrating environment simulation, environment/target simulation, signal acquisition, data transmission, information processing and capability evaluation into a whole, and is used for mainly completing performance test and evaluation of the unmanned ship in a complex environment. As shown in fig. 3, the system comprises an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a vision simulation subsystem, a networked comprehensive test subsystem and a data analysis and capability assessment system.

Referring to the environment simulation and motion simulation subsystem shown in fig. 4, the environment simulation and motion simulation subsystem uses a high-performance computer and professional modeling software as carriers, and based on actual measurement environment data and a combat task mode, simulates an offshore environment, and the software comprises 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, so as to construct a virtual test environment.

The environment and motion control system shown in fig. 5 is composed of a motion simulation subsystem, a temperature and humidity and salt spray environment simulation subsystem and an electromagnetic environment simulation subsystem. And controlling various simulation devices to complete the simulation of the environment according to the command of the simulation signal output system.

According to the positioning of each subsystem, the main functions are as follows:

1) Motion simulation subsystem:

and executing the swinging action according to the model data.

2) Humiture, salt fog environment simulation subsystem:

realizing a temperature index according to the model data;

realizing humidity indexes according to the model data;

according to the model data, salt fog concentration indexes are realized;

virtual view access;

Simulation test chart access.

3) 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 comprises a projection curtain, a projection device, a fusion control device, a network device, a computer and a switching matrix. The vision simulation subsystem is deployed at the front side of the in-field motion simulation platform, so that the unmanned ship optical equipment can be ensured to effectively acquire the vision information of the system. The basic layout is shown in figure 6, and the division is mainly performed according to the projection area, the training area and the deduction of the ring screen.

The networked comprehensive test subsystem shown in fig. 7 consists of an environment detection subsystem, a test control center, an operation monitoring node, an electromagnetic environment monitoring node, a video monitoring node, a ship-mounted test subsystem and a ship tail test node.

The data analysis and capability assessment system shown in fig. 8 mainly simulates the whole process of executing the task after the unmanned ship receives the 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 complex ocean environment and various test scenes can be realized by utilizing the test scenes generated by the scene construction platform in the simulation service, the test scene data is read by utilizing the test distribution simulator, the generated situation information is output to the single-boat control computer, the information such as single-unmanned-boat environment sensing, 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 single-boat task function and cluster formation control is completed. For the simulation test of the intelligent algorithm, storing and marking the real boat acquisition data on the intelligent evolution platform to form an algorithm training set and a verification set, and deploying the algorithm trained and verified on the intelligent evolution platform 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 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 scoring rule. The scheme of the evaluation system is shown in detail in fig. 8.

The outfield test system design provided by the embodiment of the invention is described below with reference to fig. 9 to 11. The external field real boat comprehensive test system consists of a boat-mounted test subsystem and a shore-based telemetry subsystem. The method mainly tests the functions of hull vibration and structural stress in the unmanned ship marine real ship testing stage, path planning and execution in the sailing process, autonomous global obstacle avoidance, target tracking and the like.

As shown in fig. 9, the shore-based telemetry subsystem is characterized in that a relay type wireless communication station is arranged along the shore of a test field, and an offshore relay device is combined to form a communication and monitoring network covering the whole external test field, so that everything interconnection of a plurality of test devices in the test field is realized, and monitoring and control of a tested object, each test device and the ocean environment in the test field are completed. Meanwhile, the shore-based telemetry subsystem is also interconnected with the infield data analysis and capability assessment center in real time through a broadband network, so that seamless connection of the infield and the outfield is ensured. The shore-based telemetry sub is shown in fig. 9.

The ship-based test subsystem shown in fig. 11 is that the unmanned ship needs a safe and reliable hull platform and a power system in a highly dynamic and unpredictable marine environment, and is very important for testing the performance, the power performance and the performance of the unmanned ship.

In the basic performance test aspect of the boats such as power performance, the real-time online measurement of shaft power and torsional vibration stress is mainly carried out aiming at the systems such as power propulsion on the boats, and the transmission performance test is realized by combining torque (stress) strain test technology, wireless transmission technology and instrument and equipment digitization and mainly based on the output analog signals of a remote measuring strain gauge receiver during the transmission efficiency test of a real-boat power system, the hardware and the program of a boat-mounted test subsystem are developed, and a test device and a measurement method are researched. According to the requirements of an unmanned ship power system, the system is designed into a measurement analysis system formed by combining a rotating speed sensor, a remote measuring strain gauge, a spindle type resistance strain measurement bridge circuit, an interface controller and a set of upper computer software. The system is characterized in that a bridge strain gauge is used for sensing a propulsion shaft strain signal, the propulsion shaft strain signal is subjected to signal processing through a remote measuring strain gauge and is transmitted through a remote measuring strain gauge transmitter, a remote measuring strain gauge receiver is used for receiving the strain signal, and the signals are transmitted to an upper computer through an interface controller together with a propulsion shaft rotating speed signal acquired by a rotating speed sensor.

The unmanned ship has the functions of navigation path planning and execution, autonomous global obstacle avoidance, target tracking and the like based on high-accuracy real-time positioning during navigation, main evaluation elements comprise heading, speed, real-time position and the like, corresponding evaluation parameters can be obtained in real time by using parameter sensors such as compass, inertial navigation, differential GPS and the like arranged at the ship end, and data are returned to a shore-based command center and are imported into a database through a ship-shore-sea multi-terminal data communication network. The design block diagram of the ship end navigation information and evaluation element acquisition module is shown in fig. 10.

The on-board test subsystem shown in fig. 11 is deployed on the unmanned ship to be tested and is responsible for collecting the actual stress such as vibration, stretching, temperature, humidity and the like born by the object to be tested, the posture change of multiple parts, the accurate position and the like, and meanwhile, the output information of each device on the ship is received through various expansion communication interfaces. The acquired data is preprocessed and then sent to the shore-based telemetry subsystem through wireless transmission equipment.

Based on the foregoing embodiment, in this embodiment, the infield test subsystem includes: an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a visual simulation subsystem, a networked comprehensive test subsystem and a data analysis and capability assessment system;

The environment simulation and motion simulation subsystem is used for constructing an offshore virtual test environment by taking modeling software as a carrier and taking actual measurement environment data and a combat task mode as the basis;

the environment and motion control subsystem is used for simulating a temperature and humidity environment, a salt spray environment, an electromagnetic environment and motion actions;

the visual simulation subsystem is used for being deployed at the front side of the in-field motion simulation platform to construct 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, on-board test and stern test;

the data analysis and capability assessment 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 foregoing embodiment, in this embodiment, the environment 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 environment data and a combat task mode in a test process, and sending the acquired environment data and combat task mode to the server, and the server sends the environment data and 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 a virtual engine, the comprehensive environment model construction software and the task test scheme generation software to construct an offshore virtual test environment.

Based on the content of the above embodiment, in this embodiment, the environment and motion control subsystem includes: six-degree-of-freedom swing test bed, warm and humid salt spray test box, signal generator, microwave power meter, power amplifier and signal analyzer;

the six-degree-of-freedom swing test bed is used for forming a motion simulation subsystem, the warm and humid salt spray test box is used for forming a temperature and humidity and salt spray 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 foregoing embodiment, in this embodiment, the view 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 above embodiment, in this embodiment, the networked integrated test subsystem includes an environment monitoring subsystem, a test control center, an information exchange network, a power supply and distribution system, and a ship-mounted 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 on-board test subsystem comprises a bow test node and a stern test node; the boat head test node and the boat tail test node 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 above embodiments, in the present embodiment, the data analysis and capability assessment 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 simulation test of task functions, simulation of marine environment and various test scenes is realized through the test scenes generated by the scene construction platform, test scene data are read by using a test matching simulator, situation information is generated and output to a single-boat control computer, single-unmanned-boat environment sensing and navigation control information is displayed on a single-boat control console, cluster structures and cluster situation information are displayed on a cooperative control console, and simulation test of single-boat task functions and cluster formation control is completed;

for the simulation test of the intelligent algorithm, storing and labeling real boat acquisition data on the intelligent evolution platform to form an algorithm training set and a verification set, and deploying the algorithm trained and verified on the intelligent evolution platform 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 an evaluation service according to a preset scoring algorithm.

Based on the content of the foregoing embodiment, in this embodiment, the outfield testing subsystem includes: a shore-based telemetry subsystem and a carrier-based test subsystem;

The shore-based telemetry subsystem is used for constructing a communication and monitoring network covering an external field test field by arranging relay type wireless communication stations along the shore of the test field and combining with an offshore relay device, realizing the everything interconnection 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 ocean environment in the test field;

the ship-based test subsystem is deployed on the unmanned ship to be tested and is used for collecting vibration, stretching, temperature and humidity stress actually born by the unmanned ship to be tested, posture change and position of multiple parts, preprocessing collected and obtained data, transmitting the preprocessed data to the shore-based telemetry subsystem through wireless transmission equipment, and receiving output information of all equipment on the unmanned ship to be tested through an expansion communication interface.

Based on the foregoing embodiment, in this embodiment, the shore-based telemetry sub includes: an offshore multi-parameter distributed test system and a boat shore marine multi-terminal data communication network; the offshore multi-parameter distributed test system comprises a shore-based sensing sensor unit, an unmanned ship-borne sensing sensor unit and a multi-sensor buoy unit; the boat shore marine multi-terminal data communication network comprises a wireless communication network, radio communication, a broadband network and satellite communication;

The carrier-based test subsystem comprises: the marine wave buoy comprises an upper computer, a radio station A, a radio station B, a bus, an anemometer, an attitude meter, a torque sensor, an optical speed measuring sensor, an electronic compass and a GPS which are arranged on a ship body, a wave buoy receiver and a SZF wave buoy arranged 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: according to the requirement input of a test object, designing a test subject and evaluating content, designing a model and an environment, optimizing a test channel on the basis of each test subject, completing the design and construction of the test environment and the instruction generation of the unmanned ship movement table movement model, and taking the test environment as one of platform movement elements to drive a platform;

developing the design steps of the test flow of the internal and external field test, which specifically comprises the following steps: in the test implementation stage, an outline of the test is arranged and completed for the external field test, the test points and the sensor are arranged according to the test time and the test difficulty optimizing flow, the configuration of the acquisition parameters of the test system is completed, the test program is operated, and the collection and real-time display of data are completed; for the internal field test, determining a test flow, and controlling the motion of the environment and motion control subsystem to execute a test task to complete data collection.

The test, evaluation and research steps of the high-speed intelligent unmanned ship under the preset complex environment are carried out, and the method specifically comprises the following steps: in the test evaluation stage, analyzing and evaluating the data acquired in the test process, including evaluating the unmanned ship equipment and system state, basic performance and autonomous performance content;

the method comprises the steps that a specific testing process of fusion of an internal field and an external field under a preset complex environment comprises a basic process of performing complex environment test of different task backgrounds, wherein the basic process is used for performing simulation on an offshore comprehensive environment of 5-level or below sea conditions, loading the comprehensive environment onto an unmanned ship through a test platform, and comprehensively performing test and evaluation on performance test, autonomous control capability and task planning capability of a key system under different task backgrounds in a mode of combining the internal field and 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 testing requirements of the unmanned ship, such as system performance, autonomous control capability and the like. Especially, the testing and evaluation on the aspects of complex environment and limit conditions are realized, and the blank existing in the aspects of standard systems, test techniques and the like in China at present is filled.

Furthermore, in the description herein, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," 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, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. An unmanned ship testing method of an unmanned ship testing system, comprising: an unmanned ship test system;

the unmanned ship test system comprises an inner field test subsystem and an outer field test subsystem;

the infield test subsystem is used for realizing the equivalent test of the unmanned ship offshore navigation and task execution process by constructing simulation scenes of various environments and targets;

the external field testing subsystem is used for constructing an offshore test field to carry out external field test projects and verifying test results of an internal field;

the infield test subsystem comprises: an environment simulation and motion simulation subsystem, an environment and motion control subsystem, a visual simulation subsystem, a networked comprehensive test subsystem and a data analysis and capability assessment system;

the environment simulation and motion simulation subsystem is used for constructing an offshore virtual test environment by taking modeling software as a carrier and taking actual measurement environment data and a combat task mode as the basis;

the environment and motion control subsystem is used for simulating a temperature and humidity environment, a salt spray environment, an electromagnetic environment and motion actions;

the visual simulation subsystem is used for being deployed at the front side of the in-field motion simulation platform to construct 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, on-board test and stern test;

the data analysis and capability assessment 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;

the environment and motion control subsystem comprises: six-degree-of-freedom swing test bed, warm and humid salt spray test box, signal generator, microwave power meter, power amplifier and signal analyzer;

the six-degree-of-freedom swing test bed is used for forming a motion simulation subsystem, the warm and humid salt spray test box is used for forming a temperature and humidity and salt spray 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;

the networked comprehensive test subsystem comprises an environment monitoring subsystem, a test control center, an information exchange network, a power supply and distribution system and a boat-mounted 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 on-board test subsystem comprises a bow test node and a stern test node; the boat head test node and the boat tail test node 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;

the unmanned ship testing method comprises the following steps of

The step of developing a task-oriented test design specifically comprises: according to the requirement input of a test object, designing a test subject and evaluating content, designing a model, an environment and optimizing a test channel on the basis of each test subject, completing the design and construction of the test environment and the instruction generation of the six-degree-of-freedom swing test bed motion model of the unmanned ship, and taking the test environment as one of the six-degree-of-freedom swing test bed motion elements to drive the six-degree-of-freedom swing test bed;

developing the design steps of the test flow of the internal and external field test, which specifically comprises the following steps: in the test implementation stage, an outline of the test is arranged and completed for the external field test, the test points and the sensor are arranged according to the test time and the test difficulty optimizing flow, the configuration of the acquisition parameters of the test system is completed, the test program is operated, and the collection and real-time display of data are completed; for the infield test, determining a test flow, and controlling the motion of an environment and motion control subsystem to execute a test task to complete data collection;

The test, evaluation and research steps of the high-speed intelligent unmanned ship under the preset complex environment are carried out, and the method specifically comprises the following steps: in the test evaluation stage, analyzing and evaluating the data acquired in the test process, including evaluating the unmanned ship equipment and system state, basic performance and autonomous performance content;

the specific testing process of the internal and external field fusion under the preset complex environment comprises a basic process of performing complex environment test of different task backgrounds, wherein the basic process is used for performing simulation on the marine comprehensive environment of 5-level or lower sea conditions, loading the marine comprehensive environment onto an unmanned ship through the six-degree-of-freedom swing test bed, and comprehensively performing test and evaluation on performance test, autonomous control capability and task planning capability of a key system under different task backgrounds in an internal and external field combination mode; 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.

2. The unmanned ship testing method according to claim 1, 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 environment data and a combat task mode in a test process, and sending the acquired environment data and combat task mode to the server, and the server sends the environment data and 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 a virtual engine, the comprehensive environment model construction software and the task test scheme generation software to construct an offshore virtual test environment.

3. The unmanned ship testing method of claim 1, wherein the vision simulation subsystem comprises a projection curtain, a projection device, a fusion control device, a network device, a computer, and a switching matrix.

4. The unmanned aerial vehicle testing method of claim 1, 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 simulation test of task functions, simulation of marine environment and various test scenes is realized through the test scenes generated by the scene construction platform, test scene data are read by using a test matching simulator, situation information is generated and output to a single-boat control computer, single-unmanned-boat environment sensing and navigation control information is displayed on a single-boat control console, cluster structures and cluster situation information are displayed on a cooperative control console, and simulation test of single-boat task functions and cluster formation control is completed;

For the simulation test of the intelligent algorithm, storing and labeling real boat acquisition data on the intelligent evolution platform to form an algorithm training set and a verification set, and deploying the algorithm trained and verified on the intelligent evolution platform 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 an evaluation service according to a preset scoring algorithm.

5. The unmanned aerial vehicle testing method of claim 1, wherein the outfield testing subsystem comprises: a shore-based telemetry subsystem and a carrier-based test subsystem;

the shore-based telemetry subsystem is used for constructing a communication and monitoring network covering an external field test field by arranging relay type wireless communication stations along the shore of the test field and combining with an offshore relay device, realizing the everything interconnection 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 ocean environment in the test field;

the ship-based test subsystem is deployed on the unmanned ship to be tested and is used for collecting vibration, stretching, temperature and humidity stress actually born by the unmanned ship to be tested, posture change and position of multiple parts, preprocessing collected and obtained data, transmitting the preprocessed data to the shore-based telemetry subsystem through wireless transmission equipment, and receiving output information of all equipment on the unmanned ship to be tested through an expansion communication interface.

6. The unmanned aerial vehicle testing method of claim 5, wherein the shore-based telemetry subsystem comprises: an offshore multi-parameter distributed test system and a boat shore marine multi-terminal data communication network; the offshore multi-parameter distributed test system comprises a shore-based sensing sensor unit, an unmanned ship-borne sensing sensor unit and a multi-sensor buoy unit; the boat shore marine multi-terminal data communication network comprises a wireless communication network, radio communication, a broadband network and satellite communication;

the carrier-based test subsystem comprises: the marine wave buoy comprises an upper computer, a radio station A, a radio station B, a bus, an anemometer, an attitude meter, a torque sensor, an optical speed measuring sensor, an electronic compass and a GPS which are arranged on a ship body, a wave buoy receiver and a SZF wave buoy arranged on the sea.