Effectiveness simulation system, platform and method for UUV

Abstract

The present invention relates to the field of underwater simulation technology, and specifically discloses a performance simulation system, platform and method for UUV, including: an interface control module, a function application module, a three-dimensional situation display module and a data storage module; the interface control module is used to configure at least the scene situation information and the task information of the task unit according to the user operation instruction; the function application module is used to determine the tasks to be executed of each task unit according to the scene task information, and perform simulation deduction for the tasks to be executed of each task unit to obtain the simulation deduction real-time situation information; the three-dimensional situation display module is used to obtain the real-time posture state information of each task unit according to the simulation deduction real-time situation information analysis; the data storage module is used to store at least the scene situation information, the task unit information and the simulation deduction result. The performance simulation deduction system for UUV provided by the present invention can realize the simulation deduction of UUV.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater simulation and deduction, and in particular to a performance simulation and deduction system for UUV, a performance simulation and deduction platform for UUV and a performance simulation and deduction method for UUV. Background Art

[0002] At present, for underwater cluster systems, if we want to realize the integrated functions of search, inspection, attack and evaluation, we need to design a multi-source information fusion perception system to realize offline three-dimensional high-precision map modeling and real-time collaborative positioning, target detection, identification and disposal, and effect evaluation. At present, through the research of single-machine intelligent control technology, on this basis, we develop cluster collaborative planning and control systems to realize multi-machine group intelligence, so as to complete the integrated operation tasks of search, inspection, attack and evaluation.

[0003] From the concept to the equipment installation, a large number of tests are required for underwater cluster systems to make a comprehensive, scientific and accurate assessment of the combat and technical indicators of weapons and equipment. In order to scientifically shorten the development cycle, save development funds, and reduce field tests, simulation experiments of various systems are one of the indispensable means for equipment development at home and abroad. At the same time, simulation tests also have many advantages such as high controllability, good safety, strong timeliness, and simple multi-scene switching. It has become one of the important means for the pre-research, development, and qualitative testing of weapons and equipment, and has been widely used both at home and abroad.

[0004] At present, for underwater swarm system simulation experiments, predicting the behavior and strategy of UUV (Unmanned underwater vehicle) without actual underwater operation plays a vital role in improving the efficiency and accuracy of underwater search tasks. Therefore, how to realize the deduction and simulation of underwater swarm system has become a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0005] The present invention provides a performance simulation and deduction system for UUV, a performance simulation and deduction platform for UUV and a performance simulation and deduction method for UUV, which solve the problem that the deduction and simulation of underwater cluster systems cannot be realized in the related art.

[0006] As a first aspect of the present invention, there is provided an efficiency simulation and deduction system for UUV, which includes: an interface control module, a function application module, a three-dimensional situation display module and a data storage module, wherein the function application module and the three-dimensional situation display module are both connected to the interface control module in communication, the function application module is connected to the three-dimensional situation display module in communication, and the interface control module is connected to the data storage module in communication;

[0007] The interface control module is used to perform at least scene situation information configuration and task information configuration of the task unit according to the user operation instruction, and generate scene task information based on the configuration result, wherein each of the task units includes at least one UUV;

[0008] The functional application module is used to determine the tasks to be performed of each task unit according to the scenario task information, and to perform simulation deduction on the tasks to be performed of each task unit to obtain simulation deduction real-time situation information, and to control the simulation deduction process of each task unit according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the tasks to be performed until the tasks to be performed are completed;

[0009] The three-dimensional situation display module is used to obtain the real-time posture state information of each task unit according to the simulation deduction real-time situation information, and display the simulation deduction result;

[0010] The data storage module is used to store at least scene situation information, task unit information and simulation results.

[0011] Furthermore, the functional application module includes: a decision-making planning unit, a perception unit, a control unit and a bottom-level driving unit, wherein the perception unit and the control unit are both communicatively connected to the decision-making planning unit, and the bottom-level driving unit is communicatively connected to the control unit;

[0012] The decision-making planning unit is used to register the corresponding scene and perform task planning according to the scene task information and the initial configuration information of the task unit, and obtain the tasks to be executed of each task unit and the task target information of the tasks to be executed;

[0013] The perception unit is used to obtain the sonar original image fed back by the three-dimensional situation display module, simulate the sonar original image according to the sonar simulation algorithm to obtain a sonar simulation image, send the sonar simulation image to the three-dimensional situation display module for real-time display, and perform target recognition detection on the sonar simulation image to obtain target detection information;

[0014] The control unit is used to control the simulation process of the task unit according to the task target information of the task to be executed until the task to be executed is completed;

[0015] The bottom-level driving unit is used to send the simulation real-time situation information obtained during the simulation of the task to be executed to the three-dimensional situation display module, and to receive the real-time posture state information fed back by the three-dimensional situation display module in real time.

[0016] Furthermore, the tasks to be performed include at least distributed area search, formation collaborative area search, fault re-planning and area monitoring.

[0017] When the task to be performed is a distributed area search, the decision planning unit is used to plan an independent expected path for the UUV of each task unit according to the global task information that the UUVs of all task units need to perform, and obtain the expected global path information that the UUV of each task unit needs to track;

[0018] When the task to be performed is a formation cooperative area search, the decision planning unit is used to perform global path planning on the UUV as the navigator in the task unit to obtain the corresponding expected global path information, and generate the local expected path information of each follower in real time according to the navigation tracking dynamic error control model and the real-time position of the UUV as the navigator and the target formation type;

[0019] When the task to be executed is a fault replanning, the decision-making planning unit is used to receive the target detection information of the perception unit, and perform task replanning according to the real-time situation information of the simulation deduction to obtain an updated task to be executed;

[0020] When the task to be performed is regional monitoring, the decision-making planning unit is used to receive the target detection information of the perception unit and perform local reconnaissance path planning according to the target position in the target detection information.

[0021] Furthermore, the functional application module also includes: a communication unit, the decision-making and planning unit is communicatively connected to the communication unit, and the communication unit is used to send the scene task information generated by the interface control module to the decision-making and planning unit, and send the real-time posture state information of the underlying driving unit and the target detection information of the perception unit to the interface control module.

[0022] Furthermore, the interface control module includes:

[0023] A deduction scenario setting unit is used to configure the initial situation information, mission task editing information and task information of the task unit according to the user operation instruction, and generate scenario task information;

[0024] A simulation operation control unit is used to realize the real-time simulation control function, the simulation status display function and the super real-time simulation function according to the user's operation instructions, and generate corresponding simulation control instructions;

[0025] The local data management unit is used to load configuration parameters, manage simulation log records, and manage offline maps.

[0026] Furthermore, the interface control module also includes:

[0027] The operation performance evaluation unit is used to display the simulation results, replay the simulation results, and perform performance evaluation and analysis.

[0028] Furthermore, the three-dimensional situation display module includes:

[0029] A deduction scene display unit, used to realize a plurality of perspective types of display of the deduction scene according to the display control instructions of the interface control module, wherein the plurality of perspective types at least include a global perspective, a third perspective, a first perspective and a special scene perspective;

[0030] A sonar simulation display unit, used to realize at least a sonar simulation display of a forward-looking multi-beam sonar and a side-scan sonar according to the simulation deduction process of the functional application module;

[0031] The three-dimensional modeling unit is used to realize at least UUV modeling, sea area modeling and target object modeling according to the simulation deduction process of the functional application module.

[0032] Furthermore, the data storage module comprises:

[0033] A configuration file unit, used to store a software parameter configuration file, a vehicle model parameter configuration file, and a three-dimensional model parameter configuration file;

[0034] Log record database, used to store scenario deduction logs, performance analysis logs and software operation logs;

[0035] Offline map library, used to store various types of navigation maps and electronic nautical charts.

[0036] As another aspect of the present invention, there is provided a performance simulation and deduction platform for UUV, which includes: a server cabinet, a human-computer interaction interface display and a three-dimensional situation display, wherein the human-computer interaction interface display and the three-dimensional situation display are both communicatively connected to the server cabinet, the server cabinet includes the performance simulation and deduction system for UUV mentioned above, the human-computer interaction interface display is used to display the human-computer interaction interface of the interface control module in the performance simulation and deduction system for UUV, and the three-dimensional situation display is used to realize the display function of the three-dimensional situation display module in the performance simulation and deduction system for UUV.

[0037] As another aspect of the present invention, a method for performance simulation and deduction of a UUV is provided, which is applied to the performance simulation and deduction system for a UUV as described above, and includes:

[0038] Perform at least scene situation information configuration and task information configuration of task units according to user operation instructions, and generate scene task information based on the configuration results, wherein each of the task units includes at least one UUV;

[0039] Determine the tasks to be performed of each task unit according to the scenario task information, perform simulation deduction on the tasks to be performed of each task unit to obtain simulation deduction real-time situation information, and control the simulation deduction process of each task unit according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the tasks to be performed until the tasks to be performed are completed;

[0040] The real-time position and posture status information of each task unit is obtained according to the real-time situation information of the simulation deduction, and the simulation deduction result is displayed;

[0041] At least the scene situation information, task unit information and simulation results are stored.

[0042] The performance simulation and deduction system for UUV provided by the present invention realizes interaction with the user through the interface control module, and receives the user's scene situation information configuration and the task information configuration of the task unit, thereby generating scene task information based on the configuration result, and the function application module can determine the tasks to be performed of each task unit according to the scene task information, and then perform simulation and deduction for the tasks to be performed of each task unit, and the three-dimensional situation display module can parse the real-time posture state information of each task unit according to the real-time situation information of the simulation and deduction, so that the function application module controls each task unit to complete the simulation and deduction according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the tasks to be performed. This performance simulation and deduction system for UUV can realize the simulation and deduction of UUV, and because it can predict and optimize the behavior and strategy of UUV without actual underwater operation, it can also significantly improve the efficiency and accuracy of underwater area search tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0044] Figure 1 This is a structural block diagram of the performance simulation system for UUV provided by the present invention.

[0045] Figure 2 A distributed architecture diagram of the functional application modules provided by the present invention.

[0046] Figure 3 A schematic diagram of path replanning provided by the present invention.

[0047] Figure 4 This is a structural block diagram of the performance simulation platform for UUV provided by the present invention.

[0048] Figure 5A flow chart of the performance simulation method for UUV provided by the present invention. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] In this embodiment, a performance simulation system for UUV is provided. Figure 1 FIG. 1 is a structural block diagram of a UUV performance simulation system 100 according to an embodiment of the present invention. Figure 1 As shown, including:

[0053] An interface control module 110, a function application module 120, a three-dimensional situation display module 130 and a data storage module 140, wherein the function application module 120 and the three-dimensional situation display module 130 are both connected in communication with the interface control module 110, the function application module 120 is connected in communication with the three-dimensional situation display module 130, and the interface control module 110 is connected in communication with the data storage module 140;

[0054] The interface control module 110 is used to perform at least scene situation information configuration and task information configuration of task units according to user operation instructions, and generate scene task information based on the configuration results, wherein each of the task units includes at least one UUV;

[0055] The functional application module 120 is used to determine the tasks to be performed of each task unit according to the scenario task information, and to perform simulation deduction on the tasks to be performed of each task unit to obtain simulation deduction real-time situation information, and to control the simulation deduction process of each task unit according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the tasks to be performed until the tasks to be performed are completed;

[0056] The three-dimensional situation display module 130 is used to parse the real-time situation information of each task unit according to the simulation deduction real-time situation information, and display the simulation deduction result;

[0057] The data storage module 140 is used to store at least scene situation information, task unit information and simulation results.

[0058] Specifically, the functional application module 120 in the embodiment of the present invention can specifically realize the simulation deduction of the corresponding scene, which can be mainly divided into scene registration, collaborative task planning, UUV control and other parts. From the operation process point of view, the functional application module 120 obtains the deduction scene information and task unit information through the interface control module 110, and performs scene registration accordingly to obtain the finite state machine corresponding to each deduction scene; after completing the scene registration, perform collaborative task planning to obtain the specific tasks that each single task unit currently needs to perform, such as formation maintenance, path tracking, etc.; at the same time, during the simulation deduction process, the collaborative task planning unit autonomously determines whether to perform collaborative task re-planning based on the current task execution status, such as whether a suspected target object is detected, whether a task unit fails and cannot continue to perform the task, and updates the task information that each task unit currently needs to perform.

[0059] In the above simulation process, the functional application module sends the expected control instruction parameters to the three-dimensional situation display module in real time, and the three-dimensional situation display module solves and obtains the real-time posture state information of each task unit. At the same time, if the task unit is equipped with a sonar payload, the three-dimensional situation display module sends the original image information of the corresponding task payload to the functional application module 120 in real time. The functional application module 120 generates a sonar simulation image in real time based on the sonar simulation algorithm, and performs online target detection on the generated sonar simulation image.

[0060] The performance simulation and deduction system for UUV provided by the embodiment of the present invention realizes interaction with the user through the interface control module, and receives the user's scene situation information configuration and the task information configuration of the task unit, thereby generating scene task information based on the configuration result, and the functional application module can determine the tasks to be performed of each task unit according to the scene task information, and then simulate and deduces the tasks to be performed of each task unit, and the three-dimensional situation display module can parse the real-time posture state information of each task unit according to the real-time situation information of the simulation deduction, so that the functional application module controls each task unit to complete the simulation deduction according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the task to be performed. This performance simulation and deduction system for UUV can realize the simulation deduction of UUV, and because it can predict and optimize the behavior and strategy of UUV without actual underwater operation, it can also significantly improve the efficiency and accuracy of underwater area search tasks.

[0061] Specifically, the functional application module 120 in the embodiment of the present invention includes: a decision-making planning unit 121, a perception unit 122, a control unit 123 and a bottom-level driving unit 124, wherein the perception unit 122 and the control unit 123 are both connected in communication with the decision-making planning unit 121, and the bottom-level driving unit 124 is connected in communication with the control unit 123;

[0062] The decision-making planning unit 121 is used to register the corresponding scene and perform task planning according to the scene task information and the initial configuration information of the task unit, and obtain the tasks to be executed of each task unit and the task target information of the tasks to be executed;

[0063] The sensing unit 122 is used to obtain the sonar original image fed back by the three-dimensional situation display module, simulate the sonar original image according to the sonar simulation algorithm to obtain a sonar simulation image, send the sonar simulation image to the three-dimensional situation display module for real-time display, and perform target recognition detection on the sonar simulation image to obtain target detection information;

[0064] The control unit 123 is used to control the simulation process of the task unit according to the task target information of the task to be executed until the task to be executed is completed;

[0065] The bottom-level driving unit 124 is used to send the simulation real-time situation information obtained during the simulation of the task to be executed to the three-dimensional situation display module, and receive the real-time posture state information fed back by the three-dimensional situation display module in real time.

[0066] In an embodiment of the present invention, the tasks to be performed include at least distributed area search, formation collaborative area search, fault re-planning and area monitoring.

[0067] When the task to be performed is a distributed area search, the decision planning unit 121 is used to plan an independent expected path for the UUV of each task unit according to the global task information that the UUVs of all task units need to perform, and obtain the expected global path information that the UUV of each task unit needs to track;

[0068] When the task to be performed is a formation cooperative area search, the decision planning unit 121 is used to perform global path planning on the UUV as the navigator in the task unit to obtain the corresponding expected global path information, and generate the local expected path information of each follower in real time according to the navigation tracking dynamic error control model and the real-time position of the UUV as the navigator and the target formation type;

[0069] When the task to be executed is a fault replanning, the decision planning unit 121 is used to receive the target detection information of the perception unit, and perform task replanning according to the simulation deduction real-time situation information to obtain an updated task to be executed;

[0070] When the task to be performed is regional monitoring, the decision-making planning unit 121 is used to receive the target detection information of the perception unit, and perform local reconnaissance path planning according to the target position in the target detection information.

[0071] Specifically, the functional application module also includes: a communication unit 125, the decision-making planning unit 121 is communicatively connected to the communication unit 125, and the communication unit 125 is used to send the scene task information generated by the interface control module to the decision-making planning unit, and send the real-time posture state information of the underlying driving unit and the target detection information of the perception unit to the interface control module.

[0072] like Figure 2 As shown in the figure, the functional application module is designed based on a distributed architecture. Based on the ROS1 framework, various functions are distributed in different functional unit nodes. The unit nodes interact with each other through ROS TOPIC to ensure the normal operation of the algorithm.

[0073] The functional application module mainly includes five functional unit nodes: communication unit, decision-making and planning unit, perception unit, control unit and underlying driving unit. Figure 2 The specific names of the unit nodes included in different work domains, the main functions of each unit node, and the data interaction information flow between unit nodes are given in . Among them, the node names are all prefixed with "n_", and the message names of the interactions between nodes are all prefixed with "msg_".

[0074] In the embodiment of the present invention, the functional application module can specifically establish communication with the interface control module 110 through the communication unit 125 (n_infor_router). The communication unit 125 sends the simulation scene information issued by the interface control module 110 to the decision planning unit 121 on the one hand, and receives the UUV real-time posture state information uploaded by each UUV bottom-layer drive unit 124 and the target object detection information uploaded by the perception node through the ROS topic, and transmits it back to the interface control module 110 for data storage and real-time display. At the same time, the communication unit 125 receives the simulation simulation control instructions issued by the interface control module 110, and forwards them to other functional units through the ROS topic to control the rate, start / stop, pause / resume of the simulation.

[0075] The decision-making planning unit 121 obtains the scene task information and UUV initial configuration information of the interface control module 110 through the communication unit, registers the corresponding scene and performs task planning, and obtains the global task information that each UUV currently needs to perform. For the single UUV mode, the decision-making planning unit 121 directly performs independent expected path planning for each UUV based on the global task information that each UUV needs to perform, and obtains the expected global path information that each UUV needs to track; for the UUV formation mode, the decision-making planning unit 121 first performs global path planning for the leader UUV to obtain the corresponding expected global path information, and at the same time, based on the "leader-follower" dynamic error control model, according to the real-time position of the leader UUV and the required formation type, the local expected path of each follower is generated in real time, and published to the control unit 123 to realize the UUV formation control.

[0076] At the same time, during the mission execution, the decision-making planning unit 121 receives the target detection information released by the perception unit 122, determines the overall mission execution status in real time, and replans the mission according to the UUV fault status, obtains new global mission information, and synchronously updates the expected waypoint information of each UUV. During the mission execution, if a suspected target is detected, the decision-making planning node performs local reconnaissance path planning based on the target location and other information uploaded by the perception unit 122, and sends it to the control unit 123.

[0077] The perception unit 122 establishes communication with the 3D situation display module 130 via Ethernet, and receives the original images (based on the images generated by the USD camera) of the forward-looking sonar / side-scan sonar carried by each UUV sent by the 3D situation display module 130; at the same time, the perception unit 122 uses the sonar simulation algorithm to generate a sonar simulation image based on the received original image, and sends it back to the 3D situation display module 130 for real-time display. At the same time, the perception unit performs target recognition on the generated sonar simulation image and publishes the information of the detected obstacle / target object.

[0078] The control unit 123 receives the expected path information issued by the decision-making planning node, and obtains the expected forward speed, expected pitch angular velocity and expected heading angular velocity of each AUV through the control algorithm. At the same time, the control unit 123 receives the simulation deduction control information issued by the communication unit 125, which is used to control the rate, start / stop, pause / resume of the simulation, which corresponds to the stop / wait, control cycle, etc. of the control unit 123 itself.

[0079] The bottom driving unit 124 establishes communication with the 3D situation display module 130, sends the control instructions issued by the control unit 123 to the 3D situation display module 130, and receives the current posture and speed information of each UUV calculated by the 3D situation display module 130 in real time.

[0080] In an embodiment of the present invention, when a scenario simulation is implemented specifically for a functional application module, the scenario simulation functions that can be implemented may specifically include distributed area search, formation collaborative area search, fault replanning, and area monitoring.

[0081] (1) Distributed area search. After receiving the scene information sent by the interface control module, the functional application module registers the scene: instantiates the corresponding number of target areas and gives each area its own area ID; instantiates the corresponding number of UUVs, and sets the parameters, mission payload and corresponding area ID of each UUV according to the sent parameters; each UUV entity performs global path planning for the search path, obtains the expected path from the current position of each UUV to the target area and performs a full coverage search of the target area, so that each UUV obtains the global expected path; the scene simulation officially begins, and each UUV performs path tracking control based on the obtained global expected path, and monitors in real time whether a suspected target is found online. If a suspected target is found, a reconnaissance Loiter path planning is performed, and the local reconnaissance path is used to replace the global expected path for path tracking control; after the target is confirmed, the original global expected path is continued to be tracked until the tracking of all search paths is completed. At the same time, if the UUV confirms the suspected target, the target information is reported.

[0082] When all UUVs have completed tracking the search path, the scenario simulation ends and the search process / result information, including search time, total search distance, target information, search success rate, etc., is summarized and reported.

[0083] (2) Formation collaborative area search. After receiving the scene information sent by the interface control module, the functional application module performs scene registration: instantiate a corresponding number of target areas and give each area its own area ID; instantiate a corresponding number of UUVs, and set the parameters, mission payload and corresponding area ID of each UUV according to the sent parameters; select one of the UUVs as the leader and the rest as followers, and among the followers, the UUV equipped with both forward-looking multi-beam sonar and side-scan sonar is selected as the scout UUV, and the rest are ordinary follower UUVs.

[0084] The leader UUV performs global path planning for the search path and obtains the expected path for a full coverage search of each target area in sequence from the current position (using a lawnmower search mode). At this point, the UUV formation obtains the global expected path.

[0085] The scenario simulation officially begins. First, the formation is generated. Based on the "leader-follower" mode, the formation type issued by the human-computer interaction system is generated. Then the navigator performs path tracking control on the global expected path obtained above, and the follower performs formation control, maintaining the relative posture unchanged with the navigator in a specific formation, and performs path tracking. Each UUV monitors in real time online whether a suspected target is found. If a suspected target is found, the information is reported to the navigator, and the navigator designates a scout UUV. The scout UUV performs reconnaissance Loiter path planning, leaves the formation control mode, and independently performs path tracking control. After completing the confirmation of the target, the scout UUV leaves the path tracking control mode, enters the formation control mode, returns to the UUV formation, and continues to perform the task. At the same time, if the UUV confirms the suspected target, the target information is reported.

[0086] When the UUV formation completes the search of all target areas, the scenario simulation ends and the search process / result information, including search time, total search distance, target information, search success rate, etc., is summarized and reported.

[0087] (3) Fault re-planning. After receiving the scene information sent by the interface control module, the functional application module performs scene registration: instantiate the corresponding number of target areas and give each area its own area ID; instantiate the corresponding number of UUVs, and set the parameters, mission payload and corresponding area ID of each UUV according to the sent parameters; select one of the UUVs as the leader, and the rest of the UUVs as followers. Among the followers, the UUV equipped with both forward-looking multi-beam sonar and side-scan sonar is selected as the scout UUV, and the rest are ordinary follower UUVs.

[0088] The leader UUV performs global path planning for the search path and obtains the expected path for a full coverage search of each target area in sequence from the current position (using a lawnmower search mode). At this point, the UUV formation obtains the global expected path.

[0089] The scenario simulation officially begins. First, the formation is generated. Based on the "leader-follower" mode, the formation type issued by the human-computer interaction system is generated. Then the navigator performs path tracking control on the global expected path obtained above, and the follower performs formation control, maintaining the relative posture unchanged with the navigator in a specific formation, and performs path tracking. Each UUV monitors in real time online whether a suspected target is found. If a suspected target is found, the information is reported to the navigator, and the navigator designates a scout UUV. The scout UUV performs reconnaissance Loiter path planning, leaves the formation control mode, and independently performs path tracking control. After completing the confirmation of the target, the scout UUV leaves the path tracking control mode, enters the formation control mode, returns to the UUV formation, and continues to perform the task. At the same time, if the UUV confirms the suspected target, the target information is reported.

[0090] When the UUV formation completes the search of all target areas, the scenario simulation ends and the search process / result information, including search time, total search distance, target information, search success rate, etc., is summarized and reported.

[0091] In the above scenario simulation process, one of the UUVs fails during the mission execution according to the set fault information, that is, a UUV fails during the mission execution of the multi-UUV unmanned system. The system replans the path of the remaining UUVs according to the received fault information to achieve the goal of complete search of the entire area, such as Figure 3 shown.

[0092] Finally, depending on whether the UUV with the malfunction is the pilot, there are two cases:

[0093] 1) The UUV that fails is the leader UUV: the leader UUV stops executing the current mission and reselects another UUV as the new leader UUV. The new leader UUV re-plans the global search path and obtains a new global expected path. At the same time, the new leader UUV and follower UUV regenerate the formation and continue to execute the mission.

[0094] 2) The faulty UUV is the follower UUV: the faulty UUV stops executing the current mission, the leader UUV continues the original path tracking control, and the remaining follower UUVs regenerate the formation and continue to execute the mission.

[0095] (4) Distributed area monitoring. After receiving the scene information sent by the interface control module, the functional application module performs scene registration: instantiates the corresponding number of target areas and gives each area its own area ID; instantiates the corresponding number of UUVs, and sets the parameters, mission payload, and corresponding area ID of each UUV according to the sent parameters.

[0096] Each UUV entity performs global path planning for the search path and obtains the expected path from the current position of each UUV to the target area and performs a full coverage search of the target area (using the lawnmower search mode). At this point, each UUV obtains the global expected path.

[0097] The scenario simulation officially begins. Each UUV performs path tracking control based on the global expected path obtained, and monitors whether a suspected target is found in real time online. If a suspected target is found, the reconnaissance Loiter path planning is performed, and the local reconnaissance path is used to replace the global expected path for path tracking control. After the target is confirmed, the original global expected path is continued to be tracked until the tracking of all search paths is completed. At the same time, if the UUV confirms a suspected target, the target information is reported.

[0098] When the UUV completes the area surveillance for a set time, the scenario simulation ends and the search process / result information, including search duration, total search distance, target information, search success rate, etc., is summarized and reported.

[0099] In the embodiment of the present invention, Figure 1 As shown, the interface control module 110 includes:

[0100] The deduction scenario setting unit 111 is used to configure the initial situation information, mission task editing information and task information of the task unit according to the user operation instruction, and generate scenario task information;

[0101] The simulation operation control unit 112 is used to implement the real-time simulation control function, the simulation state display function and the super real-time simulation function according to the user operation instruction, and generate the corresponding simulation control instruction;

[0102] The local data management unit 113 is used to implement configuration parameter loading, simulation log record management and offline map management.

[0103] More specifically, the interface control module 110 further includes:

[0104] The operation performance evaluation unit 114 is used to realize the display of deduction results, the playback of deduction results and the performance evaluation analysis.

[0105] It should be understood that in the embodiment of the present invention, the interface control module 110 is used to implement functions such as simulation scene setting, initial situation setting, parameter configuration, map loading, data recording, performance evaluation and simulation operation control. The user sets the scene situation information and corresponding task unit information to be simulated through the interactive interface, and sends them to the functional application module for simulation. At the same time, the interface control module 110 receives the task unit status information and scene task execution status information uploaded by the functional application module in real time, and displays them in the map area and status bar area of ​​the interactive interface in real time. During the simulation process, the user can control the simulation operation through the interface control module 110, such as start / stop, pause / resume, ultra-real-time (variable speed) simulation, etc. Finally, the interface control module 110 records the whole process information of the simulation into the data storage module 140, so that the user can perform data processing, data review, performance analysis, etc. after the current simulation ends.

[0106] In the embodiment of the present invention, Figure 1 As shown, the three-dimensional situation display module 130 includes:

[0107] A deduction scene display unit 131, used to realize a display of multiple perspective types of the deduction scene according to the display control instructions of the interface control module, wherein the multiple perspective types at least include a global perspective, a third perspective, a first perspective and a special scene perspective;

[0108] A sonar simulation display unit 132, configured to realize at least a sonar simulation display of a forward-looking multi-beam sonar and a side-scan sonar according to the simulation deduction process of the functional application module;

[0109] The three-dimensional modeling unit 133 is used to implement at least UUV modeling, sea area modeling and target object modeling according to the simulation process of the functional application module.

[0110] It should be understood that the three-dimensional situation display module 130 is used to realize the three-dimensional display requirements of the simulation system, mainly including the operation scene situation display and sonar simulation display, wherein the picture generated by the sonar simulation display is the information input of the target detection of each UUV perception module in the functional application module 120.

[0111] In the embodiment of the present invention, the data storage module 140 includes:

[0112] A configuration file unit 141, used to store a software parameter configuration file, an aircraft model parameter configuration file, and a three-dimensional model parameter configuration file;

[0113] A log record database 142, used to store scenario simulation logs, performance analysis logs, and software operation logs;

[0114] The offline map library 143 is used to store various types of navigation maps and electronic nautical charts.

[0115] Specifically, the data storage module 140 is used to save the data that needs to be read or stored during the simulation operation, including model configuration files, offline map libraries and log record files.

[0116] In summary, the performance simulation and deduction system for UUVs provided by the embodiments of the present invention can significantly improve the efficiency and accuracy of underwater area search tasks, and can predict and optimize the behavior and strategy of UUVs without actual underwater operations; by integrating advanced simulation functions and cluster collaboration technology, efficient task planning and collaborative operations are achieved; through the design of a variety of UUV formation strategies, the system's rapid response capability and execution accuracy to complex tasks are greatly enhanced. The modular design facilitates the expansion of the system.

[0117] As another embodiment of the present invention, a performance simulation and deduction platform for UUV is provided, which includes: a server cabinet, a human-computer interaction interface display and a three-dimensional situation display, wherein the human-computer interaction interface display and the three-dimensional situation display are both communicatively connected to the server cabinet, the server cabinet includes the performance simulation and deduction system for UUV mentioned above, the human-computer interaction interface display is used to display the human-computer interaction interface of the interface control module in the performance simulation and deduction system for UUV, and the three-dimensional situation display is used to realize the display function of the three-dimensional situation display module in the performance simulation and deduction system for UUV.

[0118] like Figure 4 As shown, the performance simulation and deduction platform for UUV in the embodiment of the present invention may specifically include 1 set of rack servers and 2 displays. Among them, the rack server may specifically include 1 computing board for running the interface control module and the 3D situation display module, and the board is installed with Windows 11 or above operating system; 1 computing board for running the functional application module, and the board needs to be configured with the Ubuntu operating system; the data interaction between the boards is carried out through the network switch, and a spare network port is equipped for subsequent system function expansion; 2 displays, respectively used to display the human-computer interaction interface and the 3D situation scene; the server cabinet is used to carry the above-mentioned computing board, network switch, data storage unit, switch and other devices.

[0119] The performance simulation and deduction platform for UUV in the embodiment of the present invention can realize the simulation and deduction of UUV by adopting the performance simulation and deduction system for UUV mentioned above, and because it can predict and optimize the behavior and strategy of UUV without the need for actual underwater operation, it can also significantly improve the efficiency and accuracy of underwater area search tasks.

[0120] As another embodiment of the present invention, a method for performance simulation and deduction of UUV is provided, which is applied to the performance simulation and deduction system for UUV as described above, wherein: Figure 5 As shown, including:

[0121] S100, performing at least scene situation information configuration and task information configuration of task units according to user operation instructions, and generating scene task information based on the configuration results, wherein each of the task units includes at least one UUV;

[0122] S200, determining the tasks to be performed of each task unit according to the scenario task information, and performing simulation deduction on the tasks to be performed of each task unit to obtain simulation deduction real-time situation information, and being able to control the simulation deduction process of each task unit according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the tasks to be performed until the tasks to be performed are completed;

[0123] S300, obtaining the real-time position and posture status information of each task unit according to the simulation deduction real-time situation information, and displaying the simulation deduction result;

[0124] S400, at least storing scene situation information, task unit information and simulation results.

[0125] In the embodiment of the present invention, the specific operation logic and operation flow of the performance simulation method for UUV are as follows:

[0126] Step 1: The operator completes the settings of simulation scenarios, initial situations, task units, etc. through the interface control module. After the settings are completed, the relevant information is sent to the functional application module;

[0127] Step 2: The functional application module receives the scene task information sent by the interface control module, registers the scene, obtains the corresponding finite state machine under the scene, and completes the simulation deduction of the scene through the sub-state switching inside the state machine;

[0128] Step 3: Under the framework of the above finite state machine, the functional application module performs collaborative task planning according to the scene task information, and obtains the independent subtasks that each task unit currently needs to execute. If a task unit fails or a task unit detects a suspected target object, task replanning is performed to update the independent subtasks that each task unit currently needs to execute;

[0129] Step 4: Each task unit obtains the corresponding simulation step length based on the planning control algorithm and the simulation rate set by the interface interaction system, performs real-time deduction, solves the expected control instructions, and sends them to the 3D situation display system;

[0130] Step 5: The 3D situation display module obtains the real-time posture status information of each task unit according to the control instructions and sends it to the functional application module;

[0131] Step 6: If the task unit is equipped with a sonar payload, the 3D situation display module sends the original image information of the corresponding task payload to the functional application module in real time; the functional application module generates a sonar simulation image in real time based on the sonar simulation algorithm, and performs online target detection on the generated sonar simulation image;

[0132] Repeat Step 3 to Step 6 until the functional application module receives the simulation end instruction sent by the user through the interface control module, or the functional application module completes the simulation according to the scene setting.

[0133] Step 7: Users can perform data analysis, simulation process playback, performance evaluation and other operations on the interface control module as needed.

[0134] In summary, the performance simulation and deduction method for UUV provided in the embodiment of the present invention is applied to the performance simulation and deduction system for UUV mentioned above, which can realize the simulation and deduction of UUV, and because it can predict and optimize the behavior and strategy of UUV without the need for actual underwater operation, it can also significantly improve the efficiency and accuracy of underwater area search tasks.

[0135] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A performance simulation system for UUV, characterized in that: include: An interface control module, a function application module, a three-dimensional situation display module and a data storage module, wherein the function application module and the three-dimensional situation display module are both communicatively connected to the interface control module, the function application module is communicatively connected to the three-dimensional situation display module, and the interface control module is communicatively connected to the data storage module; The interface control module is used to perform at least scene situation information configuration and task information configuration of the task unit according to the user operation instruction, and generate scene task information based on the configuration result, wherein each of the task units includes at least one UUV; The functional application module is used to determine the tasks to be performed of each task unit according to the scenario task information, and to perform simulation deduction on the tasks to be performed of each task unit to obtain simulation deduction real-time situation information, and to control the simulation deduction process of each task unit according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the tasks to be performed until the tasks to be performed are completed; The three-dimensional situation display module is used to obtain the real-time posture state information of each task unit according to the simulation deduction real-time situation information, and display the simulation deduction result; The data storage module is used to store at least scene situation information, task unit information and simulation results; The functional application module includes: a decision-making planning unit, a perception unit, a control unit and a bottom-level driving unit, wherein the perception unit and the control unit are both connected to the decision-making planning unit in communication, and the bottom-level driving unit is connected to the control unit in communication; The decision-making planning unit is used to register the corresponding scene and perform task planning according to the scene task information and the initial configuration information of the task unit, and obtain the tasks to be executed of each task unit and the task target information of the tasks to be executed; The perception unit is used to obtain the sonar original image fed back by the three-dimensional situation display module, simulate the sonar original image according to the sonar simulation algorithm to obtain a sonar simulation image, send the sonar simulation image to the three-dimensional situation display module for real-time display, and perform target recognition detection on the sonar simulation image to obtain target detection information; The control unit is used to control the simulation process of the task unit according to the task target information of the task to be executed until the task to be executed is completed; The bottom driving unit is used to send the simulation deduction real-time situation information obtained during the simulation deduction of the task to be executed to the three-dimensional situation display module, and receive the real-time posture state information fed back by the three-dimensional situation display module in real time; The tasks to be performed include at least distributed area search, formation collaborative area search, fault re-planning and area monitoring. When the task to be performed is a distributed area search, the decision planning unit is used to plan an independent expected path for the UUV of each task unit according to the global task information that the UUVs of all task units need to perform, and obtain the expected global path information that the UUV of each task unit needs to track; When the task to be performed is a formation cooperative area search, the decision planning unit is used to perform global path planning on the UUV as the navigator in the task unit to obtain the corresponding expected global path information, and generate the local expected path information of each follower in real time according to the navigation tracking dynamic error control model and the real-time position of the UUV as the navigator and the target formation type; When the task to be executed is a fault replanning, the decision-making planning unit is used to receive the target detection information of the perception unit, and perform task replanning according to the real-time situation information of the simulation deduction to obtain an updated task to be executed; When the task to be performed is regional monitoring, the decision-making planning unit is used to receive the target detection information of the perception unit and perform local reconnaissance path planning according to the target position in the target detection information.

2. The performance simulation system for UUV according to claim 1, characterized in that: The functional application module also includes: a communication unit, the decision-making planning unit is communicatively connected to the communication unit, and the communication unit is used to send the scene task information generated by the interface control module to the decision-making planning unit, and send the real-time posture state information of the underlying driving unit and the target detection information of the perception unit to the interface control module.

3. The performance simulation system for UUV according to claim 1 or 2, characterized in that: The interface control module includes: A deduction scenario setting unit is used to configure the initial situation information, mission task editing information and task information of the task unit according to the user operation instruction, and generate scenario task information; A simulation operation control unit is used to realize the real-time simulation control function, the simulation status display function and the super real-time simulation function according to the user's operation instructions, and generate corresponding simulation control instructions; The local data management unit is used to load configuration parameters, manage simulation log records, and manage offline maps.

4. The performance simulation system for UUV according to claim 3, characterized in that: The interface control module also includes: The operation performance evaluation unit is used to display the simulation results, replay the simulation results, and perform performance evaluation and analysis.

5. The performance simulation system for UUV according to claim 1 or 2, characterized in that: The three-dimensional situation display module includes: A deduction scene display unit, used to realize a plurality of perspective types of display of the deduction scene according to the display control instructions of the interface control module, wherein the plurality of perspective types at least include a global perspective, a third perspective, a first perspective and a special scene perspective; A sonar simulation display unit, used to realize at least a sonar simulation display of a forward-looking multi-beam sonar and a side-scan sonar according to the simulation deduction process of the functional application module; The three-dimensional modeling unit is used to realize at least UUV modeling, sea area modeling and target object modeling according to the simulation deduction process of the functional application module.

6. The performance simulation system for UUV according to claim 1 or 2, characterized in that: The data storage module comprises: A configuration file unit, used to store a software parameter configuration file, a vehicle model parameter configuration file, and a three-dimensional model parameter configuration file; Log record database, used to store scenario deduction logs, performance analysis logs and software operation logs; Offline map library, used to store various types of navigation maps and electronic nautical charts.

7. A performance simulation platform for UUV, characterized in that: include: A server cabinet, a human-machine interaction interface display and a three-dimensional situation display, wherein the human-machine interaction interface display and the three-dimensional situation display are both communicatively connected to the server cabinet, and the server cabinet comprises the performance simulation and deduction system for UUV as described in any one of claims 1 to 6, the human-machine interaction interface display is used to display the human-machine interaction interface of the interface control module in the performance simulation and deduction system for UUV, and the three-dimensional situation display is used to realize the display function of the three-dimensional situation display module in the performance simulation and deduction system for UUV.

8. A method for UUV performance simulation, applied to the UUV performance simulation system according to any one of claims 1 to 6, characterized in that: include: Perform at least scene situation information configuration and task information configuration of task units according to user operation instructions, and generate scene task information based on the configuration results, wherein each of the task units includes at least one UUV; Determine the tasks to be performed of each task unit according to the scenario task information, perform simulation deduction on the tasks to be performed of each task unit to obtain simulation deduction real-time situation information, and control the simulation deduction process of each task unit according to the real-time posture state information fed back by the three-dimensional situation display module and the task target information of the tasks to be performed until the tasks to be performed are completed; The real-time position and posture status information of each task unit is obtained according to the real-time situation information of the simulation deduction, and the simulation deduction result is displayed; At least the scene situation information, task unit information and simulation results are stored.

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