A ship-shore-sea collaborative testing and service system and its testing method

Abstract

The present invention relates to a ship-shore-sea collaborative test and service system and its test method, including a shore-based command center and a ship under test; the shore-based command center is provided with a general test service platform, and the general test service platform includes a general guidance and regulation system, a virtual simulation system, a general evaluation system, and a general data management and storage system; the general test service platform is simultaneously interconnected with multiple sub-test service platforms and conducts data intercommunication; the sub-test service platform includes a shipboard guidance and regulation system, a shipboard data storage system, and a shipboard test and evaluation system. The present invention is an intelligent ship overall performance virtual-real fusion test and evaluation platform centered on a ship-shore-sea integrated guidance and regulation system, which unifies and coordinates the ship-shore systems in the test, integrates virtual testing, real ship testing, and virtual-real fusion testing, and can realize multi-level testing and evaluation of intelligent ship technologies from the equipment layer, system layer, and platform layer in multiple scenarios, improving the test and verification capabilities of marine intelligent equipment and systems.

Description

Technical Field

[0001] The present invention relates to the technical field of ship-shore-sea collaborative systems, and in particular to a ship-shore-sea collaborative test and service system and its test method. Background Art

[0002] Currently, the application of intelligent technologies in global ships is still in the initial stage of exploration and development. The engineering application of intelligent technologies is very limited, and the research on relevant international maritime convention regulations has just started. In the process of the development of intelligent ship technologies in China, it is necessary to establish a ship-shore-sea collaborative test system for the test and verification of ship intelligent technologies, and it can also be used for the offshore test and verification of other components, equipment and systems of ships.

[0003] Currently, the test systems for ship performance and on-board equipment and systems at home and abroad are all specific performance test systems, and the test methods are also relatively single. They are only tested in specific scenarios and cannot be flexibly tested in diverse scenarios, resulting in insufficient testing and affecting the test effect.

[0004] Moreover, each system is independent of each other, and system data cannot be shared and uniformly managed, and test results cannot be shared in a timely manner.

[0005] To solve the above problems, we propose a ship-shore-sea collaborative test and service system and its test method. Summary of the Invention

[0006] The applicant of the present invention aims at the above-mentioned disadvantages in the existing production technology and provides a ship-shore-sea collaborative test and service system and its test method, which is an intelligent ship overall performance virtual-real fusion test and evaluation platform centered on a ship-shore-sea integrated guidance and regulation system. In the test, the ship-shore systems are unified and coordinated, integrating virtual testing, real ship testing, and virtual-real fusion testing, and can realize multi-level testing and evaluation of intelligent ship technologies from the equipment layer, system layer, and platform layer, improving the test and verification capabilities of offshore intelligent equipment and systems.

[0007] The technical solution adopted by the present invention is as follows:

[0008] A ship-shore-sea collaborative test and service system includes a shore-based command center and a ship under test;

[0009] The shore-based command center is provided with a general test service platform, and the general test service platform includes a general guidance and regulation system, a virtual simulation system, a general evaluation system, and a general data management and storage system;

[0010] The general test service platform is simultaneously connected to multiple sub-test service platforms and exchanges data with them;

[0011] The sub-test service platform includes a shipboard guidance and regulation system, a shipboard data storage system, and a shipboard test and evaluation system;

[0012] The multiple sub-test service platforms include at least one test ship test service platform;

[0013] The overall guidance and control system includes a mission planning and release module, a scenario fusion module, a measurement parameter monitoring module, and a comprehensive display module, which are used to release missions to each sub-test service platform and monitor and display the positions and information of each ship end;

[0014] The virtual simulation system includes a ship simulator, a control console, and a scenario library module, which are used to test and analyze the navigation situation of a virtual ship in an actual scenario and provide a virtual test scenario for the test of an intelligent ship;

[0015] The ship-end guidance and control system includes a mission planning and release module at the ship end, which is used to receive and execute the missions and plans released by the overall guidance and control system;

[0016] The overall evaluation system includes a ship-end measurement and evaluation module, a ship-end data receiving module, and a data acquisition module, which are used to collect the actual ship monitoring scenario after the ship-end data receiving module receives the test task information, and perform data transmission and evaluation;

[0017] The scenario fusion module fuses the scenario perceived by the actual ship with the virtual scenario generated by the virtual system, and then fuses it with the test ship to form a virtual-real fusion navigation scenario for the purpose of test evaluation, and displays it in real time in the shore-based command hall to achieve the ship-shore collaborative test effect.

[0018] Its further features are as follows:

[0019] It further includes an accompanying test ship, which is one of a buoy or a sea base, and a sub-test service platform is also provided on the accompanying test ship.

[0020] The overall guidance and control system further includes a system self-check module, a warning and emergency handling module, and a historical playback and analysis module, which are used to monitor the positions and information of each ship end to each sub-test service platform, as well as analyze and process the data on the operation of the ship end;

[0021] The system self-check module turns on the actual ship test system, the virtual simulation system, and the evaluation system according to information such as the test category in the mission planning module, and detects the running state of the system;

[0022] The historical playback and analysis module performs secondary analysis based on statistics on the recorded test historical data, and sends it to the front-end visualization interface for secondary display through a standard interface. At the same time, this module can parse the historical data during the test, give real-time obstacle information, and send it to the scenario fusion module through a unified interface for two-dimensional plane playback of the navigation situation.

[0023] The overall evaluation system is used to conduct test and evaluation on key ship intelligent systems, equipment, etc. under different navigation scenarios or system equipment operation scenarios, such as intelligent navigation evaluation module, autonomous berthing and unberthing evaluation module, and intelligent energy efficiency evaluation module, as well as other equipment and system modules to be tested, for the evaluation of the shipboard operation conditions, evaluating its navigation, berthing, unberthing and ship energy efficiency at the shipboard under various scenario modes, and evaluating specific equipment and systems.

[0024] The scenario library module is controlled by the task planning and publishing module. The task planning and publishing module selects the scenarios required for testing and generates the test scenarios in this module.

[0025] The overall data management and storage system includes a data storage and management module and a data reception and forwarding module, which receive, forward and organize and store the data for convenient subsequent evaluation use.

[0026] The shipboard guidance and regulation system also includes a system self-check module and a warning and emergency handling module at the shipboard, which are used to conduct self-check and warning and emergency handling for the situations encountered during the task execution.

[0027] The task planning and publishing module makes an overall plan for the test tasks according to the input test experiment category information, real ship information, virtual ship information, information such as the test target position, speed, heading of the real ship / virtual ship, static obstacle parameters, wharf parameters, etc., determines the task division of other subsystems, and publishes the test tasks to the corresponding other subsystems and sub-test service platforms;

[0028] The measurement parameter monitoring module presents the data sent by the historical data playback analysis module and each software module of the virtual simulation system in the form of statistical charts. This module has functions such as displaying data trends and filtering displays. The comprehensive display module mainly displays the fusion effect of the scenario fusion module on the screen. At the same time, this module needs to display on the screen the current test tasks, basic ship information, real-time ship status, equipment test information, etc.

[0029] The scenario fusion module includes three modes, namely, the ship under test is a real ship and the test scenario is a virtual scenario; the ship under test is a virtual ship and the test scenario is an actual scenario; the ship under test is a real ship and the test scenario is a fusion scenario of a virtual scenario and an actual scenario.

[0030] A ship-shore-sea collaborative testing method includes the following steps:

[0031] During the test, the test service personnel input specific test task information into the task planning and publishing module of the guidance and regulation system in the overall test service platform;

[0032] Testers complete the input of test scenario information in the scenario library module to generate basic test scenario information and send real-time test task information to the ship-end data receiving module;

[0033] After receiving the test task information, the ship-end data receiving module sends instructions to the ship-end data acquisition module to collect the ship's own status information and the surrounding environment information, and sends the collected data to the ship-end data storage system through the ship-end data receiving module to complete data storage at the ship end;

[0034] The ship-end data receiving module sends the corresponding data to the ship-end test evaluation module to complete preliminary test evaluation work to determine the test effect and subsequent test arrangements;

[0035] The ship-end data receiving module sends the ship-end data to the total data management storage system of the total test service platform and saves it to the data storage and management module;

[0036] The scenario fusion module simultaneously receives the actual scenario information of the test scenario sent by the data receiving and forwarding module, the virtual scenario information sent by the scenario library module, and the real-time task information sent by the task planning and publishing module, performs scenario fusion, and displays it in real time on the large screen of the test and service system to achieve ship-shore collaborative testing.

[0037] The beneficial effects of the present invention are as follows:

[0038] The test and service system framework for ship-shore collaboration proposed by the present invention is an intelligent ship overall performance virtual-real fusion test and evaluation platform centered on the ship-shore-sea integrated guidance system. In the experiment, the ship-shore systems are unified and coordinated, integrating virtual testing, real ship testing, and virtual-real fusion testing. It can realize multi-level testing and evaluation of intelligent ship technology from the equipment layer, system layer, and platform layer in multiple scenarios, including performance testing, function testing, and energy efficiency testing, and conduct as full testing as possible on the test object. At the same time, it can flexibly expand the test and evaluation modules according to different test objects and test requirements, making the system have good scalability, improving the ship-shore collaboration effect, strongly enhancing the test ability of China's marine intelligent equipment, driving the development of the industry's intelligent technology, promoting military-civilian integration, accelerating the development of military intelligence, and promoting the long-term development of related disciplines.

[0039] At the same time, the present invention also has the following advantages:

[0040] (1). The virtual scenario is custom-provided by the scenario library module, which can send virtual target information to the real ship and display it in the test scenario of the real ship navigation environment. It can conduct tests at any position and at any time during the real ship navigation, improving the test efficiency; at the same time, it can also conduct dangerous two-ship collision tests to test the collision avoidance effect of the real ship. However, since it is a virtual scenario, the test reliability will be affected to a certain extent.

[0041] (2). To achieve the test effect where the test ship is a virtual ship and the test scenario is an actual scenario, the scenario fusion module fuses the target information (AIS information and / or radar information) received in the actual waterway with the target information in the virtual system, then fuses it with the test ship, and presents the fused radar signal on the overhead console. At the same time, the ship simulator and the control console in the virtual simulation system are fused with the actual scenario and then with the test ship, and the overall fused scenario is presented on the electronic chart. The test scenario and the test ship can realize the test and evaluation of the virtual ship in scenarios such as harsh environments and actual busy waterways and ports. At the same time, it can also test the driving skills of the crew or intelligent control systems, etc. in the actual scenario.

[0042] (3). In this system, the real ship information in the real sea area and the virtual test data can be dynamically displayed; this system sends the virtual test scenario data to the real ship, and the real ship system displays and processes the virtual test data. It is possible to customize and add target information through the virtual scenario during the navigation of the real ship, thereby improving the test effect on the real ship's navigation. Because the number of obstacles (target information) is small in the actual scenario, it cannot well demonstrate the test effect on the real ship. However, if a virtual scenario is used, the number and distribution of obstacles (target information) can be artificially controlled to improve the test effect. Brief Description of the Drawings

[0043] Figure 1 It is a schematic diagram of the system structure of the present invention.

[0044] Figure 2 It is a schematic diagram of the test system of Embodiment 2 of the present invention.

[0045] Figure 3 It is a schematic diagram of the information transmission system of Embodiment 2 of the present invention. Detailed Embodiments

[0046] The following combines the drawings to illustrate the detailed embodiments of the present invention.

[0047] Embodiment 1

[0048] As Figure 1 shown, this embodiment discloses a ship-shore-sea collaborative test and service system, including a shore-based command center, a test ship, and an accompanying ship. The accompanying ship can also be a reference object such as a buoy or a sea-based object.

[0049] The shore-based command center sets up a general test service platform, which is composed of subsystems such as a general guidance and regulation system, a virtual simulation system, a general evaluation system, and a general data management and storage system;

[0050] Corresponding sub-test service platforms are set on the test ship and the accompanying ship.

[0051] The sub-test service platform mainly consists of a shipborne guidance and control system, a shipborne data storage system, a shipborne test and evaluation system, etc.

[0052] The total test service platform is interconnected with multiple sub-test service platforms at the same time for data intercommunication;

[0053] The multiple sub-test service platforms include at least one test ship test service platform and multiple accompanying ship test service platforms;

[0054] (1)Total test service platform

[0055] Total guidance and control system:

[0056] It includes a task planning and release module, a system self-check module, a scenario fusion module, a measurement parameter monitoring module, a warning and emergency handling module, a historical playback and analysis module, and a comprehensive display module, which are used to release tasks to each sub-test service platform, monitor the positions and information of each shipborne end, and analyze and process data on the operation of the shipborne end, etc. A series of traditional service operations for navigating and dispatching the shipborne end, and most importantly, providing a simulated scenario for the shipborne end in this embodiment;

[0057] Total evaluation system:

[0058] The total evaluation system is used to carry out test and evaluation on key intelligent systems, equipment, etc. of ships in different navigation scenarios or system equipment operation scenarios, such as intelligent navigation evaluation module, autonomous berthing and unberthing evaluation module, and intelligent energy efficiency evaluation module, as well as other equipment and system modules to be tested, for evaluating the operation of the shipborne end, evaluating its navigation, berthing, unberthing and ship energy efficiency at the shipborne end in various scenario modes, and evaluating specific equipment and systems.

[0059] Virtual simulation system:

[0060] It includes a ship simulator, a bridge console and a scenario library module, which are used to test and analyze the navigation of a virtual ship in an actual scenario, provide theoretical data for real ship navigation, and the scenario library module mainly provides a virtual test scenario for the test of intelligent ships. This module is mainly controlled by the task planning and release module, and the task planning and release module selects the test required scenario and generates the test scenario in this module;

[0061] Total data management and storage system:

[0062] It includes a data storage and management module and a data receiving and forwarding module, which receive, forward, organize and store the data of the above-mentioned various links for convenient subsequent evaluation use.

[0063] (2)Sub-test service platform

[0064] Shipborne guidance and control system:

[0065] It includes a system self-check module, a task planning and release module, and a warning and emergency handling module at the ship end, which are used to receive the tasks and plans released by the general guidance and regulation system and execute them. At the same time, self-check, warning, and emergency handling will be carried out for the situations encountered during the execution process.

[0066] General evaluation system and data storage module:

[0067] It includes a ship-end measurement and evaluation module, a ship-end data receiving module, and a data acquisition module. After the ship-end data receiving module receives the test task information, it sends instructions to the ship-end data acquisition module. After receiving the instructions, the ship-end data acquisition module completes the acquisition of the ship's own status information and the surrounding environment information by reading the data of the corresponding sensors on the ship, and sends the acquired data to the ship-end data storage system through the ship-end data receiving module to complete the data storage at the ship end.

[0068] At the same time, the ship-end data receiving module sends the corresponding data to the ship-end test and evaluation system to complete the preliminary test and evaluation work to determine the test effect and subsequent test arrangements.

[0069] Among them, the functions and roles of each module in the general guidance and regulation system are as follows:

[0070] The main function of the task planning and release module is:

[0071] According to the input test experiment category (virtual test, full-scale ship test, virtual-real fusion test; intelligent navigation test, automatic berthing and unberthing test, energy efficiency test, etc.) information; full-scale ship information, virtual ship information;

[0072] The test target position, speed, heading, etc. of the full-scale ship / virtual ship;

[0073] Static obstacle parameters;

[0074] Quay parameters, etc.,

[0075] Overall planning of the test task is carried out, the task division of other subsystems is determined, and the test task is released to the corresponding other subsystems (general evaluation system, virtual simulation system) and sub-test service platforms.

[0076] The main function of the system self-check module:

[0077] According to the information such as the experiment category in the task planning module, the full-scale ship test system, the virtual simulation system, and the evaluation system are started, and the running status of the systems is detected.

[0078] The main function of the scenario fusion module:

[0079] Fuse the scene perceived by the actual ship (after receiving the instruction, the ship - end data acquisition module completes the acquisition of the ship's own status information and the environmental information by reading the data of the corresponding sensors on the ship) with the virtual scene generated by the virtual system (the position, speed, and heading of the target ship; the position, size, and shape of static obstacles; the specific parameters of the wharf; the wind - wave environment information), then fuse it with the test ship, and display it in real - time in the shore - based command hall. At the same time, send the fused scene information to the general evaluation system and the general data management and storage system as needed for recording and evaluation.

[0080] The scene fusion module fuses the scene perceived by the actual ship with the virtual scene generated by the virtual system, and then fuses it with the test ship to form a virtual - real fusion navigation scene for the purpose of test evaluation, and displays it in real - time in the shore - based command hall to achieve the ship - shore collaborative test effect.

[0081] Specific scene fusion is divided into three cases:

[0082] 1) The test ship is an actual ship, and the test scene is a virtual scene;

[0083] The scene fusion module fuses the virtual scene in the virtual simulation system with the AIS (Automatic Identification System) information of the actual ship and / or the target information of the radar, and then fuses it with the test ship to obtain a fused scene, and presents relevant information (position, speed, heading, etc. information, environmental information monitored by buoys) on the electronic chart.

[0084] The virtual scene is custom - provided by the scene library module, which can publish virtual target information to the actual ship and display it in the test scene of the actual ship's navigation environment. It can be tested at any position and any time during the actual ship's navigation, improving the test efficiency; at the same time, it can also conduct dangerous two - ship collision tests to test the collision avoidance effect of the actual ship. However, since it is a virtual scene, the test reliability will be affected to a certain extent.

[0085] Although the test scene is a virtual scene, the actual ship will also receive the AIS (Automatic Identification System) information of the actual sea area at the ship - end and / or the radar - recorded target information. The actual ship receives the actual scene for the navigation safety of the actual ship to avoid collision with other targets.

[0086] 2) The test ship is a virtual ship, and the test scene is an actual scene;

[0087] The scenario fusion module fuses the target information (AIS information and / or radar information) received within the actual waterway with the target information in the virtual system, then fuses it with the test ship, and presents the fused radar signal on the overhead console. At the same time, it fuses the ship simulator and the control console in the virtual simulation system with the actual scenario, then fuses it with the test ship, and presents the overall fused scenario on the electronic chart. The test scenario and the test ship can achieve the testing and evaluation of virtual ships in harsh environments and actual busy waterways, ports and other scenarios. At the same time, it can also test the driving skills of crew members or intelligent control systems, etc. in the actual scenario.

[0088] 3) The test ship is a real ship, and the test scenario is a fused scenario of a virtual scenario and an actual scenario.

[0089] The scenario fusion module fuses the target information of the virtual scenario in the virtual simulation system with the target information received by the real ship, then fuses it with the test ship, obtains a fused scenario, and presents relevant information (position, speed, heading and other information, environmental information monitored by buoys) on the electronic chart.

[0090] This system can dynamically display the real ship information and virtual test data in the real sea area; this system sends the virtual test scenario data to the real ship, and the real ship system displays and processes the virtual test data. It can customize and add target information through the virtual scenario during the navigation of the real ship, thereby improving the test effect on the navigation of the real ship. Because the number of obstacles (target information) is small in the actual scenario, the test effect on the real ship cannot be well demonstrated. However, if a virtual scenario is adopted, the number and distribution of obstacles (target information) can be artificially controlled to improve the test effect.

[0091] Historical playback and analysis module:

[0092] It can perform secondary analysis based on statistics on the recorded test historical data and send it to the front-end visualization interface for secondary display through a standard interface. At the same time, this module can parse the historical data during the test, give real-time obstacle information, and send it to the scenario fusion module through a unified interface for two-dimensional plane playback of the navigation situation.

[0093] Measurement parameter monitoring module:

[0094] It can present the data sent by the historical data playback analysis module and each software module of the virtual simulation system in the form of statistical charts. This module has functions such as displaying data trends and filtering displays.

[0095] The comprehensive display module mainly displays the fusion effect of the scenario fusion module on the screen. At the same time, this module needs to display on the screen the current test task, basic ship information, real-time ship status, equipment test information and other contents.

[0096] Example 2

[0097] As Figure 2 shown, this embodiment discloses a test method for ship-shore-sea collaboration, and the specific steps are as follows:

[0098] Before the test starts, the test service personnel use the man-machine interaction interface of the system to input specific test task information into the task planning and release module of the dispatching system in the general test service platform;

[0099] When the task planning and release module confirms that the test information is correct, the test personnel complete the input of test scenario information in the scenario library module to generate basic test scenario information, and send real-time test task information to the ship-end data receiving module;

[0100] After receiving the test task information, the ship-end data receiving module sends an instruction to the ship-end data acquisition module. After receiving the instruction, the ship-end data acquisition module reads the data of the corresponding sensors on the ship, completes the acquisition of the ship's own state information and the perception of the surrounding environment information, and sends the collected and perceived data to the ship-end data storage system through the ship-end data receiving module to complete the storage of data at the ship end;

[0101] At the same time, the ship-end data receiving module sends the corresponding data to the ship-end test evaluation module to complete the preliminary test evaluation work to determine the test effect and subsequent test arrangements;

[0102] At the same time, as Figure 3 shown, the ship-end data receiving module sends the ship-end data to the general data management and storage system of the general test service platform and saves it to the data storage and management module;

[0103] The scene fusion module simultaneously receives the actual scene information sent by the data receiving and forwarding module, the virtual scene information sent by the scene library module, and the real-time task information sent by the task planning and release module, performs scene fusion, and displays it in real time on the large screen of the test and service system;

[0104] The data receiving and forwarding module sends virtual scene information, boat operation information, boat motion state information, etc. to the corresponding evaluation modules according to the real-time task information. After the evaluation modules complete the evaluation, they return the evaluation results and key parameters during the evaluation process to the data receiving and forwarding module, and then the data receiving and forwarding module forwards them separately;

[0105] One is to forward the key evaluation parameters to the measurement parameter visualization module and display them by the front-end visualization software; the other is to store the evaluation results and key parameters of the evaluation process in the data storage and management module for subsequent viewing and analysis.

[0106] The test and service system framework for ship-shore collaboration proposed by the present invention is an intelligent ship overall performance virtual-real fusion test and evaluation platform centered on the ship-shore-sea integrated guidance and control system. In the test, the ship-shore system is coordinated uniformly, integrating virtual test, real ship test, and virtual-real fusion test. It can realize multi-level tests and evaluations of intelligent ship technology from the equipment layer, system layer, and platform layer, including performance test, function test, and energy efficiency test, and conduct as full tests as possible on the test objects. At the same time, according to different test objects and test requirements, the test and evaluation modules can be flexibly expanded, making the system have good scalability. This will effectively improve the test ability of China's marine intelligent equipment, drive the development of the industry's intelligent technology, promote the integration of military and civilian, accelerate the development of military intelligence, and promote the long-term development of related disciplines.

[0107] The above description is an interpretation of the present invention, not a limitation of the invention. The scope defined by the present invention is referred to the claims. Any form of modification can be made within the protection scope of the present invention.

Claims

1. A ship-shore-sea collaborative testing and service system, characterized in that: It includes a shore-based command center and a test ship; The shore-based command center is provided with a general test service platform, and the general test service platform includes a general guidance and regulation system, a virtual simulation system, a general evaluation system, and a general data management and storage system; The general test service platform is simultaneously interconnected with multiple sub-test service platforms and conducts data intercommunication; The sub-test service platform includes a shipboard guidance and regulation system, a shipboard data storage system, and a shipboard test evaluation system; Multiple sub-test service platforms include at least one test ship test service platform; The general guidance and regulation system includes a task planning and release module, a scenario fusion module, a measurement parameter monitoring module, and a comprehensive display module, which are used to release tasks to each sub-test service platform and monitor and display the positions and information of each shipboard; The virtual simulation system includes a ship simulator, a control console, and a scenario library module, which are used to test and analyze the navigation situation of the virtual ship in the actual scenario and provide a virtual test scenario for the test of intelligent ships; The shipboard guidance and regulation system includes a shipboard task planning and release module, which is used to receive and execute the tasks and plans released by the general guidance and regulation system; The general evaluation system includes a shipboard measurement and evaluation module, a shipboard data receiving module, and a data acquisition module, which are used to collect the data monitored by the actual ship and conduct data transmission and evaluation after the shipboard data receiving module receives the test task information; The scenario fusion module fuses the scenario perceived by the actual ship with the virtual scenario generated by the virtual system, and then fuses it with the test ship to form a virtual-real fusion navigation scenario for the purpose of test evaluation, and displays it in real time in the shore-based command hall to achieve the ship-shore collaborative test effect.

2. The test and service system for ship-shore-sea collaboration according to claim 1, characterized in that: It also includes a companion test ship, which is a reference object such as a buoy or a sea-based object. A sub-test service platform is also provided on the companion test ship.

3. The test and service system for ship-shore-sea collaboration according to claim 2, wherein: The general guidance and regulation system also includes a system self-check module, a warning and emergency handling module, and a historical playback and analysis module, which are used to monitor the positions and information of each shipboard for each sub-test service platform, as well as analyze and process the data of the shipboard operation situation, and conduct safety warning and emergency handling during the test process; The system self-check module starts the actual ship test system, virtual simulation system, and evaluation system according to the test category information in the task planning module and detects the running state of the system; The historical playback and analysis module conducts secondary analysis based on statistics on the recorded test historical data and sends it to the front-end visualization interface for secondary display through a standard interface. At the same time, this module can analyze the historical data during the test process, give real-time obstacle information, and send it to the scenario fusion module through a unified interface for two-dimensional plane playback of the navigation situation.

4. The ship-shore-sea collaborative test and service system according to claim 3, wherein: The general evaluation system is used to conduct test tests and evaluations on key intelligent systems and equipment of ships in different navigation scenarios or system equipment operation scenarios, such as intelligent navigation evaluation modules, autonomous berthing and unberthing evaluation modules, and intelligent energy efficiency evaluation modules, as well as other equipment and system modules to be tested, which are used to evaluate the operation situation of the shipboard, evaluate its navigation, berthing, unberthing, and ship energy efficiency at the shipboard in various scenario modes, and evaluate specific equipment and systems.

5. The test and service system for ship-shore-sea collaboration according to claim 4, wherein: The scenario library module is controlled by the task planning and release module. The task planning and release module selects the scenarios required for testing and generates the test scenarios in this module.

6. A ship-shore-sea collaborative testing and service system according to any one of claims 1-5, characterized in that: The total data management and storage system includes a data storage and management module and a data reception and forwarding module, which receive, forward, sort, and store data for convenient subsequent evaluation and use.

7. The test and service system for ship-shore-sea collaboration according to claim 6, characterized in that: The ship-end guidance and control system also includes a system self-check module and an early warning and emergency handling module at the ship end, which are used for self-checking and early warning and emergency handling of situations encountered during the task execution.

8. The test and service system for ship-shore-sea collaboration according to claim 6, characterized in that: The task planning and release module makes an overall plan for the test task based on the input test experiment category information, real ship information, virtual ship information, test target position, speed, and heading information of the real ship / virtual ship, static obstacle parameters, and dock parameters, determines the task division of other subsystems, and releases the test task to the corresponding other subsystems and sub-test service platforms. The measurement parameter monitoring module presents the data sent by the historical data playback analysis module and each software module of the virtual simulation system in the form of statistical charts. This module has functions such as displaying data trends and filtering displays. The comprehensive display module mainly displays the fusion effect of the scenario fusion module on the screen. At the same time, this module needs to display the current test task, basic ship information, real-time ship status, and equipment test information content on the screen.

9. The test and service system for ship-shore-sea collaboration according to claim 6, characterized in that: The scenario fusion module includes three modes, namely the test ship is a real ship and the test scenario is a virtual scenario; the test ship is a virtual ship and the test scenario is an actual scenario; the test ship is a real ship and the test scenario is a fusion scenario of a virtual scenario and an actual scenario.

10. A test method for ship-shore-sea collaboration, characterized in that, It uses a ship-shore-sea collaborative test and service system according to any one of claims 1-9, and further includes the following steps: During the test, the test service personnel input specific test task information into the task planning and release module of the guidance and control system in the total test service platform. The test personnel complete the input of test scenario information in the scenario library module to generate basic test scenario information and send real-time test task information to the ship-end data reception module. After receiving the test task information, the ship-end data reception module sends an instruction to the ship-end data acquisition module to collect the ship's own status information and the environmental information, and sends the collected data to the ship-end data storage system through the ship-end data reception module to complete the data storage at the ship end. The ship-end data reception module sends the corresponding data to the ship-end test evaluation module to complete the preliminary test evaluation work to determine the test effect and subsequent test arrangements. The ship-end data reception module sends the ship-end data to the total data management and storage system of the total test service platform and saves it to the data storage and management module. The scenario fusion module simultaneously receives the actual scenario information sent by the data reception and forwarding module, the virtual scenario information sent by the scenario library module, and the real-time task information sent by the task planning and release module, performs scenario fusion, and displays it in real time on the large screen of the test and service system to achieve ship-shore collaborative testing.

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