Unmanned ship autonomous navigation control algorithm simulation evaluation system
A technology of autonomous navigation and control algorithm, applied in control/regulation system, two-dimensional position/channel control, non-electric variable control, etc. problems such as the iteration speed of the popularization algorithm for real boats and real boats, to achieve the effect of speeding up the iteration speed
Pending Publication Date: 2021-11-09
CHINA SHIP DEV & DESIGN CENT
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However, every time a similar task is added, the cost of developing, debugging and deploying the autonomous navigation control system of the unmanned boat is high and unacceptable, which will greatly restrict the popularity of the actual mission of the unmanned boat and its own capabilities. Algorithm iteration speed
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[0030] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0031] Such as figure 1 As shown, a simulation evaluation system for autonomous navigation control algorithm of unmanned boats, including:
[0032] The autonomous navigation controller to be tested is used to communicate with the kinematic model of the unmanned boat and the control software of the unmanned boat respectively according to the communication protocol of the unmanned boat;
[0033] The simulation model building module is used to establish the kinematics model of the unmanned ship and the environment model that affects the movement of the unmanned ship;
[0034] The model input of the kinematics model of the un...
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The invention discloses an unmanned ship autonomous navigation control algorithm simulation evaluation system, and the system comprises a to-be-tested autonomous navigation controller which is used for carrying out the communication with an unmanned ship kinematic model and unmanned ship control software according to an unmanned ship communication protocol; a simulation model building module, used for building an unmanned ship kinematics model and an environment model influencing the motion of the unmanned ship; an obstacle target simulation module, used for simulating an obstacle target message output by the unmanned ship sensing system according to the latitude and longitude, the navigational speed, the course, the size and the obstacle type of the obstacle target; and an autonomous navigation control algorithm evaluation module, used for evaluating the autonomous navigation control algorithm according to the autonomous navigation control task of the unmanned ship. According to the method, an unmanned ship model, an environment model and a simulation target model are established, so that an unmanned ship autonomous navigation controller is debugged and evaluated in a state without a real ship; and software and hardware can be directly used for a real boat after being shaped, so that the software and hardware development iteration speed of the unmanned boat is accelerated.
Description
technical field [0001] The invention relates to a simulation control technology, in particular to a simulation evaluation system for an autonomous navigation control algorithm of an unmanned boat. Background technique [0002] With the development of military and civilian unmanned boat technology, the autonomous controller of unmanned boats has become the core of unmanned boat technology, which is used to support the actions of unmanned boats in various mission scenarios. With the continuous increase and change of the use scenarios of unmanned boats, the use environment of unmanned boats has become more complex, and the development, debugging and deployment of autonomous control algorithms for unmanned boats have become extremely complicated. For example, when the autonomous control system of the unmanned vehicle needs to meet more than 10 obstacle avoidance tasks of the unmanned vessel, the obstacle avoidance algorithm of the unmanned vessel needs to be iteratively debugged...
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CPCG05D1/0206
Inventor 张逸凡闫红州唐李军岳林刘凯
Owner CHINA SHIP DEV & DESIGN CENT