A USBL underwater simulation method and system

Abstract

The present invention relates to a USBL underwater simulation method and system, belonging to the field of underwater simulation technology. The present invention establishes a USBL simulation sensor model and manager, using the simulation model's signal transmission module as the client and the signal reception module as the server. The client selects either a one-to-many or one-to-one communication mode and sends a network connection request to the manager. The manager searches for a server based on topic matching requirements set by the client and sends the server matching the topic to the client. The client then establishes a network connection with the server matching the topic, enabling communication. By configuring the manager, both communication modes can be simultaneously maintained within a single system, and switching between them can be rapid.

Description

Technical Field

[0001] The present invention relates to a USBL underwater simulation method and system, belonging to the technical field of underwater simulation. Background Art

[0002] Underwater robots (UUVL) need to be equipped with USBL sensors for positioning when performing tasks such as underwater inspections. USBL sensors are underwater ranging instruments consisting of a transmitter and multiple receivers. The USBL signal transmitter must broadcast information to all underwater signal receivers to obtain the relative position of the UUV. It also needs to be able to communicate independently with a specific underwater receiver. Due to the complex and ever-changing underwater environment, underwater equipment must undergo experimental testing before being officially launched. However, physical equipment is subject to uncertainty during experimental testing, and the production costs of underwater robot equipment and USBL sensors are high. Therefore, before the UUV is officially operational, a simulation environment must be established for the UUV equipped with USBL sensors to conduct simulation demonstrations and verification. Currently, there are very few simulation systems for underwater unmanned robots. In existing USBL simulation methods, the mathematical model of the receivers is the same. When the transmitter sends a signal, all receivers with the same mathematical model will receive the signal. This makes it impossible for a specific receiver to receive a signal while the rest of the receivers are functioning normally but not. As a result, only a one-to-many communication mode in which a sending device communicates with multiple receiving devices simultaneously, or a one-to-one communication mode in which a sending device communicates with a designated receiving device can be realized, and both communication modes cannot be realized at the same time. Summary of the Invention

[0003] The purpose of the present invention is to provide a USBL underwater simulation method and system to solve the problem in the prior art that two communication modes cannot be simulated simultaneously during the USBL simulation process.

[0004] To achieve the above object, the solution of the present invention includes:

[0005] A USBL underwater simulation method of the present invention comprises the following steps:

[0006] 1) Building a USBL simulation sensor model and manager. The USBL simulation sensor model includes a signal sending module for simulating a USBL signal sending device and a signal receiving module for simulating a USBL signal receiving device. The signal sending module is set on the surface ship model, and the signal receiving module is set in the underwater robot model.

[0007] 2) The signal sending module is started as a client and registers the topic name information of the service request in the manager. The signal receiving module is started as a server and registers the topic name information of the service provided in the manager. The topic is the channel for transmitting data between the client and the server;

[0008] 3) When it is necessary to simulate the USBL one-to-many broadcast mode, the client does not set the topic matching requirement and sends a communication signal request to the manager. The manager sends the address information of all servers to the client, and the client establishes a network connection with all servers for communication.

[0009] 4) When it is necessary to simulate the USBL one-to-one mode, the client sets a topic name and sends a communication signal request to the manager. The manager matches the saved registration information and sends the address information of the server that matches the topic name to the client. The client establishes a network connection with the server that matches the topic name to communicate.

[0010] The present invention builds a USBL simulation sensor and manager, which replaces physical experiments with simulation experiments, thereby reducing the cost of physical experiments. The signal sending module in the simulation sensor is used as the client, and the signal receiving module is used as the server. When sending a network connection request, the client chooses to set or not set the topic matching requirement. The manager sends the server address information that meets the topic to the client according to the topic matching requirement, and the client and the server establish a network connection. By setting up a manager, a system can have both one-to-many mode and one-to-one mode at the same time, and according to the setting of the topic matching requirement, the two communication modes can be quickly switched, and the real-time communication is enhanced.

[0011] Furthermore, the client and the server establish a network connection via TCP.

[0012] The client and the server of the present invention are connected to the network via TCP, which provides protection for the channel of transmitting data and prevents interference from other addresses.

[0013] Furthermore, the client and server interact with the manager through RPC respectively.

[0014] When the client and the server of the present invention interact with the manager respectively through RPC, information can be transmitted remotely through RPC, making it easier for the client or the server to interact with the manager.

[0015] Furthermore, the manager stores the registration information of the client and the server in a registry.

[0016] The present invention sets a registration table in the manager, and the manager stores the registration information of the client and the server in the registration table, so as to facilitate the manager to manage and search for topics.

[0017] A USBL underwater simulation system of the present invention includes a USBL simulation sensing model and a manager, wherein the USBL simulation sensing model includes a signal sending module for simulating a USBL signal sending device and a signal receiving module for simulating a USBL signal receiving device; the signal sending module is used to be mounted on a surface ship model, as a client, for registering topic name information of a service request with the manager, sending a network connection request, receiving server address information fed back by the manager, and establishing a network connection with the corresponding server according to the received server address information; the signal receiving module is used to be fixed in an underwater robot model, as a server, for registering topic name information of a service provided with the manager, receiving the network connection request of the client for confirmation, and feeding back the confirmation result to the client; the manager is used to keep the registration information of the client and the server, receive the network connection request and topic matching requirement sent by the client, send the address information of all servers to the client when the topic matching requirement is not set, perform information matching when the topic name is set, and send the server address information that meets the topic to the client; the topic matching requirement is a channel for transmitting information between the client and the server.

[0018] The present invention provides a USBL underwater simulation system that replaces physical objects for conducting simulation experiments, thereby reducing the cost of physical experiments. The system includes a USBL simulation sensor model and a manager. The USBL simulation sensor model includes a signal sending module and a signal receiving module. Before the signal sending module and the signal receiving module communicate, the manager helps the signal sending module and the signal receiving module establish a network connection. The manager receives the topic matching requirements set by the signal sending module, selects one-to-one or one-to-many communication mode based on the topic matching requirements, and sends the address information of the server that meets the topic matching requirements to the client. The client establishes a network connection with the server that meets the topic matching requirements to communicate. This system realizes the communication process in which one signal sending end corresponds to multiple signal receiving ends, and also has the function of one-to-one communication. The two communication modes can be switched quickly, enhancing the practicality of the system.

[0019] Furthermore, the manager stores the registration information of the client and the server in a registry.

[0020] The present invention sets a registration table in the manager, and the manager stores the registration information of the client and the server in the registration table, so as to facilitate the manager to manage and search for topics.

[0021] Furthermore, the client and server interact with the manager through RPC respectively.

[0022] When the client and the server of the present invention interact with the manager respectively through RPC, information can be transmitted remotely through RPC, making it easier for the client or the server to interact with the manager.

[0023] Furthermore, the client and the server establish a network connection via TCP.

[0024] The client and the server of the present invention are connected to the network via TCP, which provides protection for the channel of transmitting data and prevents interference from other addresses. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the principle of the communication process of the USBL underwater simulation method;

[0026] Figure 2 It is a schematic diagram of the principle of a one-to-many broadcast communication mode in an embodiment of the invention;

[0027] Figure 3 It is a schematic diagram of the principle of a one-to-one communication mode in an embodiment of the invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] System Example:

[0030] The simulation system of the present invention is constructed with a manager and a USBL simulation sensor model including a signal sending module and a signal receiving module, wherein the signal receiving module is used to be fixed on a surface ship model, and the signal sending module is used to be mounted in an underwater robot model. In order to realize the simulation of the two communication modes, the signal receiving model is used as the server, and the signal sending module is used as the client. The signal receiving module of the server registers its own information in the ROS manager, and the ROS manager adds the registration information of the node to the registry. The sending module as the client registers its own information in the ROS manager, and the ROS manager adds the registration information of the node to the registry; the client continuously sends a request position signal to the ROS manager, and the ROS manager matches according to the information in the registry. The client matches the response information according to the ROS manager information, uses TCP (Transmission Control Protocol) to establish a network connection with the server, and sends the request data. The ROS manager switches the communication mode according to whether the topic matching requirement is set, and distributes the request data to the server that meets the topic. The server receives and parses the requested data, and generates a response result and returns it to the client. The mutual communication between the signal sending module and the signal receiving module is realized. Figure 1 As shown, the specific embodiments are as follows:

[0031] The USBL simulation sensor model was built using SolidWorks. It includes a signal transmission module and a signal reception module, generating a xacro file containing an XML file describing the USBL shape and an STL file describing the USBL texture. The simulation sensor was attached to the underwater robot model by calling the USBL xacro file within the robot's URDF model file. The signal transmission module was fixed to the deck model, and communication between the signal transmission and signal reception modules was performed. The following is the communication process of a dual-mode USBL simulation sensor based on the ROS communication mechanism:

[0032] After the USBL simulation sensor is activated, the signal receiving module in the underwater robot model starts as the server of the ROS communication system and registers information with the ROS manager via RPC (Remote Procedure Call). The registration information includes its own identity information and the name of the topic providing the service. The ROS manager adds the node's registration information to the registry. The topic of this invention is an asynchronous, unidirectional channel for transmitting data messages between the client and the server.

[0033] 2. The signal sending module fixed to the surface ship model starts as a client and registers information with the ROS manager through RPC. The registration information includes its own information and the topic name of the service requested. The ROS manager adds the node's registration information to the registry.

[0034] 3. Such as Figure 2 As shown in the figure, when simulating the USBL one-to-many broadcast mode, the client does not set a topic matching requirement and sends a network connection request message, transmitting the topic name of the client service and the communication protocol (TCP) to the ROS manager. After receiving the request message, the ROS manager sends the TCP address information of all servers to the client. The client sends a network connection request to all servers. After receiving the request, each server parses it and sends the connection confirmation result back to the client. The client and server complete the network connection and communicate.

[0035] 4. Such as Figure 3 As shown in the figure, when it is necessary to simulate the USBL one-to-one mode, the client sets a topic name and sends a network connection request message, and transmits the topic name and communication protocol (TCP) of the service provided by the client to the ROS manager. The ROS manager matches the saved registration information and sends the TCP address information of the server that meets the topic name to the client. The client and the server that meets the topic name establish a network connection and communicate.

[0036] Method Example:

[0037] The simulation method of the present invention adopts the ROS communication mechanism to simulate the communication process of USBL, takes the receiving module as the server of the ROS communication system, and the signal sending module as the client. The ROS manager is used to manage the information registered by the server and the client, and one-to-one and one-to-many communication modes are realized by whether the client sets the topic matching. The specific implementation process of this method has been described in detail in the system embodiment and will not be repeated here.

[0038] According to the above process, the USBL simulated water signal sending module and the underwater signal receiving module are connected to the network through the ROS manager. The manager determines the one-to-one communication mode or the one-to-many communication mode based on whether the topic matching requirements are set. In the present invention, two communication modes can coexist in one system, and the one-to-one communication mode or the one-to-many communication mode can be quickly switched, which enhances the real-time performance of the communication.

Claims

1. A USBL underwater simulation method, characterized in that: The following steps are involved: 1) Building a USBL simulation sensor model and manager. The USBL simulation sensor model includes a signal sending module for simulating a USBL signal sending device and a signal receiving module for simulating a USBL signal receiving device. The signal sending module is set on the surface ship model, and the signal receiving module is set in the underwater robot model. 2) The signal sending module is started as a client and registers the topic name information of the service request in the manager. The signal receiving module is started as a server and registers the topic name information of the service provided in the manager. The topic is the channel for transmitting data between the client and the server; 3) When it is necessary to simulate the USBL one-to-many broadcast mode, the client does not set the topic matching requirement and sends a communication signal request to the manager. The manager sends the address information of all servers to the client, and the client establishes a network connection with all servers for communication; 4) When it is necessary to simulate the USBL one-to-one mode, the client sets a topic name and sends a communication signal request to the manager. The manager matches the saved registration information and sends the address information of the server that matches the topic name to the client. The client establishes a network connection with the server that matches the topic name to communicate.

2. The USBL underwater simulation method according to claim 1, characterized in that: The client and server are connected via TCP.

3. The USBL underwater simulation method according to claim 1 or 2, characterized in that: The client and server interact with the manager through RPC.

4. The USBL underwater simulation method according to claim 1, characterized in that: The manager stores the registration information of the client and server in the registry.

5. A USBL underwater simulation system, characterized in that: It includes a USBL simulation sensing model and a manager. The USBL simulation sensing model includes a signal sending module for simulating a USBL signal sending device and a signal receiving module for simulating a USBL signal receiving device; the signal sending module is used to be mounted on a surface ship model, as a client, for registering topic name information of a service request with the manager, sending a network connection request, receiving the server address information fed back by the manager, and establishing a network connection with the corresponding server according to the received server address information; the signal receiving module is used to be fixed in an underwater robot model, as a server, for registering topic name information of a service provided with the manager, receiving the network connection request of the client for confirmation, and feeding back the confirmation result to the client; the manager is used to keep the registration information of the client and the server, receive the network connection request and topic matching requirement sent by the client, send the address information of all servers to the client when the topic matching requirement is not set, perform information matching when the topic name is set, and send the server address information that meets the topic to the client; the topic matching requirement is a channel for transmitting information between the client and the server.

6. The USBL underwater simulation system according to claim 5, characterized in that: The manager stores the registration information of the client and server in the registry.

7. The USBL underwater simulation system according to claim 5, characterized in that: The client and server interact with the manager through RPC.

8. The USBL underwater simulation system according to claim 5 or 7, characterized in that: The client and server are connected via TCP.

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