Unmanned boat mission simulation test method and device

Abstract

An embodiment of the present invention provides a method and apparatus for simulating and testing unmanned vehicle missions. The method comprises: obtaining simulated mission test parameters and simulated target setting parameters; constructing a simulated test scenario based on the simulated mission test parameters and simulated target setting parameters; obtaining motion parameters of the unmanned vehicle, and generating a simulated target motion trajectory of the unmanned vehicle based on the motion parameters and the simulated test scenario. The apparatus is configured to perform the above method. The method and apparatus provided by the present invention improve the efficiency and accuracy of unmanned vehicle mission simulation testing.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of unmanned boats, and in particular to an unmanned boat mission simulation test method and device. Background Art

[0002] An unmanned surface vehicle (USV) is a small surface motion platform with autonomous navigation capabilities. It can carry different mission payloads to complete assigned tasks and is characterized by high speed, intelligence, stealth, and flexibility. When performing a mission, the USV uses the sensors it carries to perceive the environment, making decisions, and executing the mission. Generally, it uses more than one sensor, but instead employs a multi-sensor fusion approach to achieve perception. For example, common radars of different wavelengths, optoelectronics, and various sonars are combined to complete surface and underwater detection tasks. For simulation tests of detection tasks involving multiple sensors, the target messages returned by different sensors can currently be simulated to achieve these simulations.

[0003] While it's possible to test detection missions by simulating the messages returned by different sensors, the message formats of different sensors for the same target often vary significantly. The message construction process is complex, involving testing missions under varying sea conditions, both on the surface and underwater, and across a wide range of sea areas. Generating messages is labor-intensive and inefficient. Furthermore, because the simulated messages generated by different sensors are disconnected from each other, it's impossible to simulate sensor signals based on their characteristics, nor is it possible to simulate the motion of an unmanned vehicle in a specific marine environment. This results in significant discrepancies between simulated and real-world testing, leading to lower accuracy.

[0004] Therefore, proposing a method to improve the efficiency and accuracy of unmanned boat mission simulation testing is an important issue that needs to be urgently addressed in the industry. Summary of the Invention

[0005] In view of the deficiencies in the prior art, an embodiment of the present invention provides a method and device for simulating and testing an unmanned boat mission.

[0006] On the one hand, an embodiment of the present invention provides an unmanned boat mission simulation test method, comprising:

[0007] Get simulation task test parameters and simulation target setting parameters;

[0008] Constructing a simulation test scenario according to the simulation task test parameters and simulation target setting parameters;

[0009] The motion parameters of the unmanned boat are obtained, and a target simulated motion trajectory of the unmanned boat is generated according to the motion parameters and the simulated test scenario.

[0010] On the other hand, an embodiment of the present invention provides an unmanned boat mission simulation test device, comprising:

[0011] An acquisition unit, used to acquire simulation task test parameters and simulation target setting parameters;

[0012] A processing unit, configured to construct a simulation test scenario according to the simulation task test parameters and simulation target setting parameters;

[0013] The simulation unit is used to obtain the motion parameters of the unmanned boat and generate a target simulated motion trajectory of the unmanned boat according to the motion parameters and the simulation test scenario.

[0014] The unmanned vehicle mission simulation test method and apparatus provided by embodiments of the present invention obtain simulated mission test parameters and simulated target setting parameters; construct a simulated test scenario based on these simulated mission test parameters and simulated target setting parameters; obtain the unmanned vehicle's motion parameters, and generate a simulated target motion trajectory for the unmanned vehicle based on these motion parameters and the simulated test scenario. The apparatus is configured to perform the above method. The method and apparatus provided by the present invention improve the efficiency and accuracy of unmanned vehicle mission simulation testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of a flow chart of a method for simulating and testing an unmanned boat mission according to an embodiment of the present invention;

[0017] Figure 2 A schematic structural diagram of an unmanned boat mission simulation test device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] Figure 1 The unmanned boat mission simulation test method provided by the embodiment of the present invention is as follows: Figure 1 As shown, this embodiment provides an unmanned boat mission simulation test method, including:

[0020] S101, obtaining simulation task test parameters and simulation target setting parameters;

[0021] Specifically, the acquisition unit 201 acquires simulation task test parameters and simulation target setting parameters. The simulation task test parameters include task area parameters, task time parameters, task sampling point parameters, and other parameters. These parameters can be set and adjusted based on actual conditions and are not specifically limited here. The simulation target setting parameters include static target parameters, dynamic target parameters, and other parameters. These parameters can be set and adjusted based on actual conditions and are not specifically limited here.

[0022] S102, constructing a simulation test scenario according to the simulation task test parameters and simulation target setting parameters;

[0023] Specifically, the processing unit 202 constructs a simulation test scenario according to the simulation task test parameters and the simulation target setting parameters.

[0024] S103: Acquire motion parameters of the unmanned boat, and generate a target simulated motion trajectory of the unmanned boat according to the motion parameters and the simulated test scenario.

[0025] Specifically, the simulation unit 203 obtains motion parameters of the unmanned boat, and generates a target simulated motion trajectory of the unmanned boat according to the motion parameters and the simulation test scenario.

[0026] The data processing method provided by the embodiment of the present invention improves the efficiency and accuracy of the unmanned boat mission simulation test by obtaining simulation task test parameters and simulation target setting parameters; constructing a simulation test scene according to the simulation task test parameters and simulation target setting parameters; obtaining the motion parameters of the unmanned boat, and generating the target simulation motion trajectory of the unmanned boat according to the motion parameters and the simulation test scene.

[0027] On the basis of the above embodiment, the method further includes: before obtaining the simulation task test parameters and the simulation target setting parameters, constructing a first database, the first database including multiple editable simulation task test parameters; accordingly, obtaining the simulation task test parameters and the simulation target setting parameters includes: reading the simulation task test parameters from the first database.

[0028] Specifically, the plurality of editable simulation task test parameters are encapsulated and stored in the first database in a preset format, and the acquisition unit 201 can read the simulation task test parameters from the first database. It is understood that the acquisition unit 201 can also obtain the simulation task test parameters in other ways, which can be set and adjusted according to actual circumstances, and are not specifically limited here.

[0029] On the basis of the above embodiment, the method further includes: before obtaining the simulation task test parameters and the simulation target setting parameters, constructing a second database, the second database including multiple editable simulation target setting parameters; accordingly, obtaining the simulation task test parameters and the simulation target setting parameters includes: reading the simulation target setting parameters from the second database.

[0030] Specifically, the plurality of editable simulation target setting parameters are encapsulated and stored in a preset format in the second database, and the acquisition unit 201 can read the simulation target setting parameters from the second database. It is understood that the acquisition unit 201 can also acquire the simulation target setting parameters in other ways, and can be set and adjusted according to actual circumstances, which is not specifically limited here.

[0031] On the basis of the above embodiment, further, the simulation task test parameters include any one of the following or a combination thereof: task area parameters, task time parameters, and task sampling point parameters.

[0032] Specifically, the task area parameters may include the task name, task area location, task area description, and other parameters, which can be set and adjusted according to actual conditions, and are not specifically limited here; it is understandable that the task area can be selected through the nautical chart, or the task area can be set by entering the longitude and latitude. The task time parameters may include the task duration, and may also include other parameters, which can be set and adjusted according to actual conditions, and are not specifically limited here. The task sampling point parameters include setting different times and multiple sea condition sampling points within the task area. It is understandable that a human-computer interaction interface can be set when necessary, and the task area and task duration can be edited and set by clicking the "Task Area Selection" button and the "Duration Setting" button.

[0033] On the basis of the above embodiment, further, the simulation target setting parameters include static target parameters and / or dynamic target parameters.

[0034] Specifically, static target parameters include surface static target parameters, obstacle parameters, and underwater static target parameters. Other parameters may also be included. These parameters can be set and adjusted based on actual circumstances and are not specifically limited here. Surface static targets primarily refer to buoys, with buoy parameters including anchor position, threat radius, and color. Underwater static targets primarily refer to torpedoes, with parameters including position, depth, and threat radius.

[0035] Dynamic target parameters include surface dynamic target parameters, underwater dynamic target parameters, and other parameters. They can be set and adjusted according to actual conditions and are not specifically limited here. Surface dynamic targets include fishing vessels, merchant ships, and naval vessels. Surface dynamic target parameter settings include information such as initial position, route and speed (or positions corresponding to different times), and threat radius. Underwater dynamic targets primarily refer to submersibles. Underwater dynamic target parameter settings include information such as initial position, route and speed (or positions corresponding to different times), depth, and threat radius.

[0036] On the basis of the above embodiment, further, the simulation task test parameters include task area parameters, task time parameters and task sampling point parameters; accordingly, the construction of the simulation test scenario according to the simulation task test parameters and the simulation target setting parameters also includes:

[0037] Divide the task area grid according to task area parameters;

[0038] Acquire a first parameter set according to the task sampling point parameters and the task time parameters, wherein the task sampling point parameter set includes environmental parameters corresponding to each task sampling point at different task times;

[0039] A second parameter set is acquired according to the task sampling point parameter set and the task area grid, where the second parameter set includes environmental parameters corresponding to each task area grid mark point at different task times.

[0040] Specifically, by selecting the coordinates of the upper left and lower right corner vertices of the task area and the map OSM zoom level, all grid coordinates of the task area can be calculated, that is, the coordinates of the grid marker points of the task area, that is, the task area grid. The coordinates of the task sampling point can be used to calculate the task area grid to which the task sampling point belongs. At the same time, combined with the environmental parameter data of multiple task sampling points, by linear interpolation (plus random perturbation), the seawater depth is comprehensively considered to derive the environmental parameters corresponding to each grid marker point included in the task area grid at different task times. Based on the environmental parameters of the task sampling points at different times, the environmental parameters of all regional grid marker points at multiple task times are derived, that is, the second parameter set. It can be understood that the interval of temporal interpolation is defined by the data generation frequency. If the data generation frequency is 50Hz, the time interval between adjacent interpolation points is 20ms; the interval of spatial interpolation is defined by the OSM zoom level (spatial grid granularity). If the OSM zoom level is 16, the size of the spatial grid is 0.005 latitude (about 611 meters).

[0041] Based on the above embodiment, further, obtaining the motion parameters of the unmanned boat and generating the target simulated motion trajectory of the unmanned boat according to the motion parameters and the simulated test scenario includes:

[0042] The target simulated motion trajectory is generated by fitting according to the motion parameters and the second parameter set.

[0043] Specifically, the environmental parameters of the current position at the current mission moment are read from the second parameter set, and the position of the unmanned boat at the next mission moment is obtained according to the motion parameters at the current moment. Then, the moment is used as the current mission moment and the position is used as the current position to obtain the environmental parameters of the position at the moment. The above steps are repeated until the current position is no longer within any area. The positions corresponding to all the mission moments obtained are fitted to generate the target simulated motion trajectory.

[0044] The unmanned boat mission simulation test method provided by an embodiment of the present invention improves the efficiency and accuracy of the unmanned boat mission simulation test by obtaining simulation mission test parameters and simulation target setting parameters; constructing a simulation test scenario based on the simulation mission test parameters and simulation target setting parameters; obtaining the motion parameters of the unmanned boat, and generating the target simulation motion trajectory of the unmanned boat based on the motion parameters and the simulation test scenario.

[0045] Figure 2 A schematic diagram of the structure of the unmanned boat mission simulation test device provided by an embodiment of the present invention is shown as follows: Figure 2 As shown, an embodiment of the present invention provides an unmanned boat mission simulation test device, including: an acquisition unit 201, a processing unit 202 and a simulation unit 203, wherein:

[0046] The acquisition unit 201 is used to obtain simulation task test parameters and simulation target setting parameters; the processing unit 202 is used to construct a simulation test scene based on the simulation task test parameters and simulation target setting parameters; the simulation unit 203 is used to obtain the motion parameters of the unmanned boat, and generate the target simulation motion trajectory of the unmanned boat based on the motion parameters and the simulation test scene.

[0047] The unmanned boat mission simulation test device provided by an embodiment of the present invention improves the efficiency and accuracy of the unmanned boat mission simulation test by obtaining simulation mission test parameters and simulation target setting parameters; constructing a simulation test scenario based on the simulation mission test parameters and simulation target setting parameters; obtaining the motion parameters of the unmanned boat, and generating the target simulation motion trajectory of the unmanned boat based on the motion parameters and the simulation test scenario.

[0048] Optionally, the simulation task test parameters include task area parameters, task time parameters, and task sampling point parameters; accordingly, the processing unit 202 is specifically configured to:

[0049] Divide the task area grid according to task area parameters;

[0050] Acquire a first parameter set according to the task sampling point parameters and the task time parameters, wherein the task sampling point parameter set includes environmental parameters corresponding to each task sampling point at different task times;

[0051] A second parameter set is acquired according to the task sampling point parameter set and the task area grid, where the second parameter set includes environmental parameters corresponding to each task area grid mark point at different task times.

[0052] Optionally, the simulation unit 203 is specifically configured to: generate the target simulated motion trajectory by fitting according to the motion parameters and the second parameter set.

[0053] The unmanned boat mission simulation test device provided by an embodiment of the present invention improves the efficiency and accuracy of the unmanned boat mission simulation test by obtaining simulation mission test parameters and simulation target setting parameters; constructing a simulation test scenario based on the simulation mission test parameters and simulation target setting parameters; obtaining the motion parameters of the unmanned boat, and generating the target simulation motion trajectory of the unmanned boat based on the motion parameters and the simulation test scenario.

[0054] The embodiments of the device provided by the present invention can be specifically used to execute the processing flow of the above-mentioned method embodiments. Its functions are not described in detail here, and reference can be made to the detailed description of the above-mentioned method embodiments.

[0055] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0056] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for simulating and testing an unmanned boat mission, characterized in that: include: Get simulation task test parameters and simulation target setting parameters; Constructing a simulation test scenario according to the simulation task test parameters and simulation target setting parameters; Acquiring motion parameters of the unmanned boat, and generating a target simulated motion trajectory of the unmanned boat according to the motion parameters and the simulated test scenario; The simulation task test parameters include task area parameters, task time parameters and task sampling point parameters; Accordingly, the step of constructing a simulation test scenario according to the simulation task test parameters and the simulation target setting parameters further includes: Divide the task area grid according to task area parameters; Acquire a first parameter set according to the task sampling point parameters and the task time parameters, wherein the task sampling point parameter set includes environmental parameters corresponding to each task sampling point at different task times; A second parameter set is acquired according to the task sampling point parameter set and the task area grid, where the second parameter set includes environmental parameters corresponding to each task area grid mark point at different task times.

2. The method according to claim 1, characterized in that The method further comprises: Before obtaining the simulation task test parameters and the simulation target setting parameters, a first database is constructed, which includes multiple editable simulation task test parameters; accordingly, obtaining the simulation task test parameters and the simulation target setting parameters includes: reading the simulation task test parameters from the first database.

3. The method according to claim 1, characterized in that The method also includes: before obtaining the simulation task test parameters and the simulation target setting parameters, constructing a second database, the second database including multiple editable simulation target setting parameters; accordingly, obtaining the simulation task test parameters and the simulation target setting parameters includes: reading the simulation target setting parameters from the second database.

4. The method according to claim 1, wherein The simulation target setting parameters include static target parameters and / or dynamic target parameters.

5. The method according to claim 1, characterized in that The step of obtaining the motion parameters of the unmanned boat and generating a target simulated motion trajectory of the unmanned boat according to the motion parameters and the simulated test scenario includes: The target simulated motion trajectory is generated by fitting according to the motion parameters and the second parameter set.

6. An unmanned boat mission simulation test device, characterized in that: include: An acquisition unit, used to acquire simulation task test parameters and simulation target setting parameters; A processing unit, configured to construct a simulation test scenario according to the simulation task test parameters and simulation target setting parameters; A simulation unit, configured to obtain motion parameters of the unmanned boat and generate a target simulated motion trajectory of the unmanned boat according to the motion parameters and the simulated test scenario; The simulation task test parameters include task area parameters, task time parameters and task sampling point parameters; accordingly, the processing unit is specifically used to: Divide the task area grid according to task area parameters; Acquire a first parameter set according to the task sampling point parameters and the task time parameters, wherein the task sampling point parameter set includes environmental parameters corresponding to each task sampling point at different task times; A second parameter set is acquired according to the task sampling point parameter set and the task area grid, where the second parameter set includes environmental parameters corresponding to each task area grid mark point at different task times.

7. The device according to claim 6, characterized in that The simulation unit is specifically configured to generate the target simulated motion trajectory by fitting according to the motion parameters and the second parameter set.

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