An unmanned ship function test experiment method and system

Abstract

The application discloses a kind of unmanned ship function test test method and system, the method includes wireless remote control and communication function test method, unmanned control and display function test method, route tracking performance test method, autonomous collision avoidance capability test method and external system access test method.The application is used to test and verify the wireless remote control and communication, unmanned control and display, route tracking, autonomous collision avoidance, external system access and other functions of unmanned ship, provides a standardized, process-oriented function test test scheme for a kind of small unmanned ship, can effectively shorten the test cycle in the process of unmanned ship factory, significantly reduce test cost high, promote the formation of unmanned ship industrial scale.

Description

Technical Field

[0001] This invention belongs to the field of unmanned surface vessel (USV) testing technology, specifically relating to a functional testing method and system for USVs. Background Technology

[0002] Unmanned surface vessels (USVs) are an emerging industry that has developed rapidly in recent years. With technological advancements and market cultivation, USVs are gradually being widely used as basic tools in civilian fields such as marine engineering, environmental protection, and surface security. In the military field, the practical application of USVs in combat is being actively explored. However, the USV industry is still in its early stages of development, with industry standards and technical specifications not yet fully developed. Testing costs are high and testing cycles are long during the delivery of USVs. Therefore, a functional verification testing scheme for small USVs is needed to provide a standardized and streamlined functional testing process. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for testing the functions of unmanned surface vessels (USVs), which are used to test and verify the functions of USVs such as wireless remote control and communication, unmanned control and display, route tracking, autonomous collision avoidance, and external system access.

[0004] The technical solution adopted in this invention is as follows:

[0005] In a first aspect, the present invention provides a test method for unmanned surface vessel (USV) functionality testing. This method provides test procedures and steps for testing the communication function, unmanned control and display function, route tracking performance, autonomous collision avoidance capability, and external system access performance of small USVs.

[0006] The test procedure for wireless remote control and communication functions is as follows:

[0007] 1) Measure the position (latitude and longitude) of the handheld integrated remote control;

[0008] 2) Start the ground control station software;

[0009] 3) Start the unmanned surface vessel (USV) and observe its location (latitude and longitude) displayed on the base station control console software;

[0010] 4) Switch to "Manual Remote Control" mode;

[0011] 5) Upon receiving commands, use the handheld remote control to perform the operations of "forward", "left turn", "right turn", "accelerate", "decelerate", "engine start", and "engine stop" and record the operation time. Observe whether the unmanned surface vessel can respond correctly. If the response is correct, analyze the data after the test is completed. If the response is incorrect, stop the test.

[0012] 6) Ping the unmanned surface vessel's navigation controller via the ground control station to determine the time delay value;

[0013] 7) Determine the communication bandwidth at that time by determining the data transmission rate from the unmanned surface vessel to the ground control station;

[0014] 8) Move the unmanned boat away from the handheld remote controller until the handheld remote controller can no longer establish two-way communication with the unmanned boat. Observe the position (latitude and longitude) of the unmanned boat, calculate the distance from the unmanned boat to the handheld remote controller, and manually move the ground station control station until communication is restored. Then, remotely control the unmanned boat to return.

[0015] The test procedure for unmanned control and display functions is as follows:

[0016] 1) Start the ground control station software;

[0017] 2) Start the unmanned surface vessel (USV) and observe whether the ground control station software can display the USV's status information and record it automatically;

[0018] 3) Start the ground control station software, plan the route and mission based on the satellite map, and verify whether the planning results are consistent with the plan. If they are consistent, then bind them to the unmanned surface vessel.

[0019] 4) Remotely control the unmanned surface vessel (USV) to the mission initiation position, switch to "autonomous navigation" mode, and initiate the navigation mission upon command; after the USV has completed its navigation, modify the original route, delete waypoints, add waypoints, save it as a new route file, and bind it to the USV.

[0020] 5) The unmanned surface vessel (USV) executes a new route mission and observes whether the USV status information displayed on the ground control station software is correct;

[0021] 6) Activate the unmanned surface vessel's navigation radar and integrated optoelectronic equipment, and observe whether the ground control station software displays correctly.

[0022] The test procedure for flight path tracking performance testing is as follows:

[0023] 1) Plan the unmanned surface vessel's route from point A to point B (record the latitude and longitude coordinates of points A and B);

[0024] 2) Maneuver the unmanned surface vessel to the vicinity of point A on the flight path;

[0025] 3) The ground control station switches to autonomous navigation mode.

[0026] 4) The unmanned surface vessel (USV) stops at idle speed and stands by;

[0027] 5) The ground control station initiates the route planning task, planning the unmanned surface vessel route from point C to point D, so that the route from point C to point D is roughly in the opposite direction to the route from point A to point B;

[0028] 6) Call the AB route from step 1, and the ground control station initiates the navigation mission;

[0029] 7) The unmanned surface vessel records the integrated navigation position (latitude and longitude) throughout the entire process;

[0030] 8) Set the speed to three values ​​respectively, and repeat steps 1-7 above.

[0031] The test procedure for autonomous collision avoidance capability testing is as follows:

[0032] 1) Static obstacle avoidance (the static obstacle is a small island in a lake):

[0033] a. Plan the unmanned surface vessel's route from point A to point B. When the AB route passes through static obstacles, the ground control station activates obstacle avoidance mode, turns on the radar, and sends the task to the unmanned surface vessel.

[0034] b. The unmanned surface vessel (USV) navigates along the planned route and records whether it autonomously avoids obstacles;

[0035] c. Observe whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward until it reaches the end of the planned route;

[0036] d. Observe the real-time detection of obstacles by the unmanned surface vessel;

[0037] 2) Dynamic obstacle avoidance (the dynamic obstacle is a small fiberglass boat used for testing). In dynamic obstacle avoidance, the test vessel and the accompanying vessel travel in the same direction.

[0038] a. Plan the unmanned surface vessel's route from point C to point D, and activate obstacle avoidance mode at the ground control station;

[0039] b. The accompanying vessel travels from point C to point D at a specified speed. The base station sends a task to the unmanned vessel. The unmanned vessel chases the accompanying vessel along the planned route CD at a specified speed and observes whether the unmanned vessel autonomously avoids obstacles.

[0040] c. Record whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward, and reaches the end of the planned route;

[0041] d. Plan the unmanned surface vessel's route from point E to point F, and activate obstacle avoidance mode at the ground control station;

[0042] e. The accompanying vessel sails from point F to point E. The ground control station sends a task to the unmanned surface vessel. The unmanned surface vessel travels towards the accompanying vessel along the planned route EF at a specified speed. The system records whether the unmanned surface vessel autonomously avoids obstacles.

[0043] f. Record whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward until it reaches the end of the planned route.

[0044] For external system access tests, the test procedure is as follows:

[0045] 1) Using the specified interface protocol technical requirements, the RCG test tool simulates the master control terminal sending and receiving commands through the network port of the backpack communication system;

[0046] 2) Maneuver the unmanned surface vessel to a suitable navigation area;

[0047] 3) The ground control station switches to autonomous navigation mode;

[0048] 4) The ground control station activates obstacle avoidance mode, turns on the radar, and sends the path task to the unmanned surface vessel via the RCG testing tool;

[0049] 5) Whether the unmanned surface vessel is sailing along the planned route, and whether it is transmitting navigation data and radar target information in real time;

[0050] 6) Record whether the unmanned surface vessel is idling and rotating in place when it reaches the end of the planned route.

[0051] Secondly, the present invention also provides an unmanned surface vessel (USV) functional testing system for implementing the unmanned surface vessel (USV) functional testing method described in any one of the above-mentioned methods, comprising:

[0052] A wireless remote control and communication function test module, used for testing methods of wireless remote control and communication functions;

[0053] An unmanned control and display function test module is used to conduct unmanned control and display function test methods.

[0054] The route tracking performance test module is used to conduct route tracking performance test methods.

[0055] The autonomous collision avoidance capability testing module is used to conduct autonomous collision avoidance capability testing methods.

[0056] The external system access test module is used to conduct external system access test methods.

[0057] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0058] This invention proposes a functional testing method and system for unmanned surface vessels (USVs), providing a standardized and streamlined functional testing scheme for a class of small USVs. This can effectively shorten the testing cycle during the USV delivery process, significantly reduce testing costs, and promote the large-scale formation of the USV industry. Attached Figure Description

[0059] Figure 1 This is a diagram of the functional testing scheme for unmanned surface vessels.

[0060] Figure 2 (a) and Figure 2 (b) shows the display interface of the unmanned surface vessel navigation radar and integrated optoelectronic equipment in the ground control station software at different times;

[0061] Figure 3 (a) to (c) in the figure are the course deviation curves of three voyages when the unmanned surface vessel is traveling at a speed of 6 knot;

[0062] Figure 4 (a) to (c) in the figure are the course deviation curves of three voyages when the unmanned surface vessel is traveling at a speed of 10 knots;

[0063] Figure 5 (a) to (c) in the figure are the course deviation curves of three voyages when the unmanned surface vessel is traveling at a speed of 13 knots;

[0064] Figure 6 The trajectory diagram for the collision avoidance test;

[0065] Figure 7 This diagram illustrates the process of receiving mission path information from external systems and transmitting navigation status and detection information back. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0067] This invention is mainly used to test and verify the functions of a small unmanned surface vessel, such as wireless remote control and communication, unmanned control and display, route tracking, autonomous collision avoidance, and external system access. Figure 1 As shown.

[0068] The following is a specific implementation case illustrating the method of using the present invention. Each test includes the test procedure, data processing and recording, and test result evaluation.

[0069] (1) Test site and test conditions

[0070] This test will be conducted at a freshwater lake in the central region. All cruises in the acceptance test must meet the following test conditions:

[0071] 1) The test waters are approximately 5 kilometers long and wide, meeting the requirements for unmanned surface vessels to navigate along planned routes;

[0072] 2) The test waters are open and unobstructed, meeting the requirement for the unmanned surface vessel to receive remote control commands from the base control station throughout the entire process;

[0073] 3) There are no known man-made or natural obstacles on or underwater in the test area that could affect the navigation safety of the unmanned surface vessel;

[0074] 4) The test water area has a depth of 1-5 meters and a wind speed of less than 3 m / s, meeting the requirements of sea state level 2;

[0075] 5) The meteorological, hydrological and electromagnetic conditions of the test water area meet the requirements for normal operation of the radio station.

[0076] (2) Wireless remote control and communication function test

[0077] A. Test Procedure

[0078] 1) Measure the position (latitude and longitude) of the handheld integrated remote control;

[0079] 2) Start the ground control station software;

[0080] 3) Start the unmanned surface vessel (USV) and observe its location (latitude and longitude) displayed on the base station control console software;

[0081] 4) Switch to "Manual Remote Control" mode;

[0082] 5) Upon receiving commands, use the handheld remote control to perform the operations of "forward", "left turn", "right turn", "accelerate", "decelerate", "engine start", and "engine stop" and record the operation time. Observe whether the unmanned surface vessel can respond correctly. If the response is correct, analyze the data after the test is completed. If the response is incorrect, stop the test.

[0083] 6) Ping the unmanned surface vessel's navigation controller via the ground control station to determine the time delay value;

[0084] 7) Determine the communication bandwidth at that time by determining the data transmission rate from the unmanned surface vessel to the ground control station;

[0085] 8) Move the remotely controlled unmanned surface vessel (USV) away from the handheld remote controller until the handheld remote controller can no longer establish two-way communication with the USV. Observe the USV's position (latitude and longitude), calculate the distance from the USV to the handheld remote controller, and manually move the ground station control station until communication is restored. Then, remotely control the USV to return. Figure 2 (a) and Figure 2 As shown in (b) in the figure, Figure 2 (a) in the diagram is the one taken at 00:15. Figure 2 (b) in the diagram is a schematic diagram at 03:14.

[0086] B. Data Recording and Processing

[0087] Table 1 Test Table for Wireless Remote Control and Communication Functions

[0088]

[0089]

[0090] C. Evaluation of test results

[0091] The following criteria are considered acceptable; otherwise, they are considered unacceptable:

[0092] 1) Unmanned surface vessels can be remotely controlled within visual range using a handheld remote controller;

[0093] 2) Remote communication distance ≥ 5km, latency 50-300ms, bandwidth 1-3M; (depending on weather conditions and interference).

[0094] Conclusion: This experiment was successful.

[0095] (3) Unmanned control and display function test

[0096] A. Test Procedure

[0097] 1) Start the ground control station software;

[0098] 2) Start the unmanned surface vessel (USV) and observe whether the ground control station software can display the USV's status information and record it automatically;

[0099] 3) Start the ground control station software, plan the route and mission based on the satellite map, and verify whether the planning results are consistent with the plan. If they are consistent, then bind them to the unmanned surface vessel.

[0100] 4) Remotely control the unmanned surface vessel (USV) to the mission initiation position, switch to "autonomous navigation" mode, and initiate the navigation mission upon command; after the USV has completed its navigation, modify the original route, delete waypoints, add waypoints, save it as a new route file, and bind it to the USV.

[0101] 5) The unmanned surface vessel (USV) executes a new route mission and observes whether the USV status information displayed on the ground control station software is correct;

[0102] 6) Activate the unmanned surface vessel's navigation radar and integrated optoelectronic equipment, and observe whether the ground control station software displays correctly.

[0103] B. Data Recording and Processing

[0104] Table 2 Test Table for Unmanned Control and Display Functions

[0105]

[0106]

[0107] C. Evaluation of test results

[0108] The following criteria are considered acceptable; otherwise, they are considered unacceptable:

[0109] 1) Supports visualized route planning and management, and navigation control;

[0110] 2) The ground control station software supports satellite maps;

[0111] 3) It can display unmanned surface vessel situation information, radar detection, and photoelectric video in real time.

[0112] Conclusion: This experiment was successful.

[0113] (4) Flight tracking performance test

[0114] A. Test Procedure

[0115] 1) Plan the unmanned surface vessel's route from point A to point B (record the latitude and longitude coordinates of points A and B);

[0116] 2) Maneuver the unmanned surface vessel to the vicinity of point A on the flight path;

[0117] 3) The ground control station switches to autonomous navigation mode.

[0118] 4) The unmanned surface vessel (USV) stops at idle speed and stands by;

[0119] 5) The ground control station initiates the route planning task, planning the unmanned surface vessel route from point C to point D, so that the route from point C to point D is roughly in the opposite direction to the route from point A to point B;

[0120] 6) Call the AB route from step 1, and the ground control station initiates the navigation mission;

[0121] 7) The unmanned surface vessel records the integrated navigation position (latitude and longitude) throughout the entire process;

[0122] 8) Set the speed to 6 knots, 10 knots and 13 knots respectively, and repeat steps 1-7 above.

[0123] B. Data Recording and Processing

[0124] Data selection: latitude and longitude coordinates of the start and end points of each route, and latitude and longitude coordinates of each point output by the inertial navigation system during navigation. Data selection for the stable navigation segment: data begins when the deviation is no greater than 2 meters, and the deviation of the route in the next cycle is no greater than 5 meters; data ends at the moment before and after the unmanned surface vessel begins to decelerate just before reaching the end point.

[0125] Data source: Real-time storage of inertial navigation system data by the flight control system (approximately 50Hz).

[0126] Curve graph: Figure 3 (a) to (c) in the figure are the course deviation curves of three voyages when the unmanned surface vessel is traveling at a speed of 6 knot; Figure 4 (a) to (c) in the figure are the course deviation curves of three voyages when the unmanned surface vessel is traveling at a speed of 10 knots; Figure 5Figures (a) to (c) show the course deviation curves for three voyages at an unmanned surface vessel speed of 13 knots. Note: The data curves are plotted from the data used in the root mean square calculation.

[0127] Table 3. Route Deviation Test at 6 km / h

[0128]

[0129] Table 4. Route Deviation Test at 10 km / h

[0130]

[0131] Table 5. Route Deviation Test at 13 km / h

[0132]

[0133]

[0134] C. Evaluation of test results

[0135] The following criteria are considered acceptable; otherwise, they are considered unacceptable:

[0136] a. The navigation control system can achieve a root mean square deviation of ≤3m for route tracking (sea state 0, speed ≥5kn).

[0137] Conclusion: This experiment was successful.

[0138] (5) Autonomous collision avoidance capability test

[0139] A. Test Procedure

[0140] 1) Static obstacle avoidance (the static obstacle is a small island in Yanxi Lake):

[0141] a. Plan the unmanned surface vessel's route from point A to point B. The AB route passes through static obstacle targets. The distance between point A and the static obstacle is 1100 meters. The ground control station activates obstacle avoidance mode, turns on the radar, and issues the task to the unmanned surface vessel.

[0142] b. The unmanned surface vessel (USV) navigates along the planned route and records whether it autonomously avoids obstacles;

[0143] c. Observe whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward until it reaches the end of the planned route;

[0144] d. Observe the real-time detection of obstacles by the unmanned surface vessel;

[0145] 2) Dynamic obstacle avoidance (the dynamic obstacle is a small fiberglass boat used for the test, such as...) Figure 6 As shown), dynamic obstacle avoidance involves the test vessel and the accompanying vessel traveling in the same direction:

[0146] a. Plan the unmanned surface vessel's route from point C to point D, and activate obstacle avoidance mode at the ground control station;

[0147] b. The test vessel travels from point C to point D at a speed of 8 knots. The base station sends a task to the unmanned surface vessel. The unmanned surface vessel chases the test vessel in the same direction along the planned route CD at a speed of 6 knots. Observe whether the unmanned surface vessel autonomously avoids obstacles.

[0148] c. Record whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward, and reaches the end of the planned route;

[0149] d. Plan the unmanned surface vessel's route from point E to point F, and activate obstacle avoidance mode at the ground control station;

[0150] e. The accompanying vessel sails from point F to point E. The ground control station sends a task to the unmanned surface vessel. The unmanned surface vessel travels towards the accompanying vessel along the planned EF route at a speed of 6 knots. The system records whether the unmanned surface vessel autonomously avoids obstacles.

[0151] f. Record whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward until it reaches the end of the planned route.

[0152] B. Data Recording and Processing

[0153] Table 6 Static Obstacle Avoidance Test Record Sheet

[0154]

[0155] Table 7 Dynamic Obstacle Avoidance Test Record Sheet

[0156]

[0157] C. Evaluation of test results

[0158] The following criteria are considered acceptable; otherwise, they are considered unacceptable:

[0159] a. It can quickly detect, track, and autonomously avoid collisions with typical water targets (ships, islands, and reefs) within a range of 50-1000 meters for unmanned surface vessels, ensuring navigation safety in shallow waters;

[0160] b. It has the ability to avoid multiple moving and static targets in real time, with a number of moving / static targets ≥ 5.

[0161] Conclusion: This experiment was successful.

[0162] (6) External system access test

[0163] A. Test Procedure

[0164] 1) The RCG test tool, which uses the specified interface protocol, simulates the master control end's network port message commands through the backpack communication system;

[0165] 2) Maneuver the unmanned surface vessel to a suitable navigation area;

[0166] 3) The ground control station switches to autonomous navigation mode;

[0167] 4) The ground control station activates obstacle avoidance mode, turns on the radar, and sends the path task to the unmanned surface vessel via the RCG testing tool;

[0168] 5) Whether the unmanned surface vessel is sailing along the planned route, and whether it is transmitting navigation data and radar target information in real time;

[0169] 6) Record whether the unmanned surface vessel is idling and rotating in place when it reaches the end of the planned route.

[0170] B. Recording of Test Results

[0171] See Figure 7 .

[0172] C. Result Evaluation

[0173] The following criteria are considered acceptable; otherwise, they are considered unacceptable:

[0174] a. It can correctly receive the path sequence tasks from the master control terminal, display them on the ground control station, and execute them correctly;

[0175] b. Real-time transmission of navigation status information and real-time transmission of radar target detection information.

[0176] Conclusion: This experiment was successful.

[0177] The present invention also provides an unmanned surface vessel (USV) functional testing system for implementing the unmanned surface vessel functional testing method described in any one of the above, comprising:

[0178] A wireless remote control and communication function test module, used for testing methods of wireless remote control and communication functions;

[0179] An unmanned control and display function test module is used to conduct unmanned control and display function test methods.

[0180] The route tracking performance test module is used to conduct route tracking performance test methods.

[0181] The autonomous collision avoidance capability testing module is used to conduct autonomous collision avoidance capability testing methods.

[0182] The external system access test module is used to conduct external system access test methods.

[0183] In summary, this invention provides a standardized and streamlined functional testing scheme for a class of small unmanned surface vessels (USVs), which can effectively shorten the testing cycle during the USV delivery process, significantly reduce testing costs, and promote the large-scale formation of the USV industry.

[0184] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0185] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0186] Those skilled in the art will readily understand that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A functional testing method for unmanned surface vessels, characterized in that, This method includes test methods for wireless remote control and communication functions, test methods for unmanned control and display functions, test methods for flight path tracking performance, test methods for autonomous collision avoidance capabilities, and test methods for external system access. The test methods for wireless remote control and communication functions include: 1) Measure the position of the handheld integrated remote control; 2) Start the ground control station software; 3) Start the unmanned surface vessel (USV) and observe its location as displayed on the base station control console software; 4) Switch to manual remote control mode; 5) Follow the instructions to perform various operations using the handheld remote control and record the operation time. Observe whether the unmanned surface vessel can respond correctly. If the response is correct, analyze the data after the test is completed. If the response is incorrect, stop the test. 6) Ping the unmanned surface vessel's navigation controller via the ground control station to determine the latency value; 7) Determine the communication bandwidth at that time by determining the data transmission rate from the unmanned surface vessel to the ground control station; 8) Move the unmanned boat away from the handheld remote controller until the handheld remote controller can no longer establish two-way communication with the unmanned boat. Observe the position of the unmanned boat, calculate the distance between the unmanned boat and the handheld remote controller, and manually move the ground control station until communication is restored. Then, remotely control the unmanned boat to return.

2. The unmanned surface vessel (USV) functional testing method according to claim 1, characterized in that, The location is indicated by latitude and longitude, and the various operations include moving forward, turning left, turning right, accelerating, decelerating, starting the engine, and stopping the engine.

3. The unmanned surface vessel (USV) functional testing method according to claim 1, characterized in that, If the unmanned surface vessel meets all of the following criteria, it is considered to have passed; otherwise, it is considered to have failed: 1) Unmanned surface vessels can be accurately controlled within visual range using a handheld remote control; 2) Remote communication distance ≥ 5km, latency 50-300ms, bandwidth 1-3M.

4. The unmanned surface vessel (USV) functional testing method according to claim 1, characterized in that, The test methods for unmanned control and display functions include: 1) Start the ground control station software; 2) Start the unmanned surface vessel (USV) and observe whether the ground control station software can display the USV's status information and record it automatically; 3) Start the ground control station software, plan the route and mission based on the satellite map, and verify whether the planning results are consistent with the plan. If they are consistent, then bind them to the unmanned surface vessel. 4) Remotely control the unmanned surface vessel (USV) to the mission initiation position, switch to autonomous navigation mode, and initiate the navigation mission upon command; after the USV has completed its navigation, modify the original route, delete waypoints, add waypoints, save it as a new route file, and bind it to the USV. 5) The unmanned surface vessel (USV) executes a new route mission and observes whether the USV status information displayed on the ground control station software is correct; 6) Activate the unmanned surface vessel's navigation radar and integrated optoelectronic equipment, and observe whether the ground control station software displays correctly.

5. The unmanned surface vessel (USV) functional testing method according to claim 4, characterized in that, If the unmanned surface vessel meets all of the following criteria, it is considered to have passed; otherwise, it is considered to have failed: 1) Supports visualized route planning and management, and navigation control; 2) The ground control station software supports satellite maps; 3) Real-time display of unmanned surface vessel situation information, radar detection, and photoelectric video.

6. The unmanned surface vessel (USV) functional testing method according to claim 1, characterized in that, The test methods for flight tracking performance include: 1) Plan the unmanned surface vessel's route from point A to point B; 2) Maneuver the unmanned surface vessel to the vicinity of point A on the flight path; 3) The ground control station switches to autonomous navigation mode; 4) The unmanned surface vessel (USV) stops at idle speed and stands by after completing its route; 5) The ground control station initiates the route planning task, planning the unmanned surface vessel route from point C to point D, so that the route from point C to point D is in the opposite direction to the route from point A to point B; 6) Call the AB route from step 1, and the ground control station initiates the navigation mission; 7) The unmanned surface vessel records the position of the integrated navigation system throughout the entire process; 8) Set the speed to three values ​​respectively, and repeat steps 1 to 7 above; If the unmanned surface vessel meets all of the following criteria, it is considered to have passed; otherwise, it is considered to have failed: The navigation control system achieves a root mean square deviation of ≤3m for route tracking.

7. The unmanned surface vessel (USV) functional testing method according to claim 1, characterized in that, Autonomous collision avoidance capability testing methods include: 1) Static obstacle avoidance: a. Plan the unmanned surface vessel's route from point A to point B. When the AB route passes through static obstacles, the ground control station activates obstacle avoidance mode, turns on the radar, and sends the task to the unmanned surface vessel. b. The unmanned surface vessel (USV) navigates along the planned route and records whether it autonomously avoids obstacles; c. Observe whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward until it reaches the end of the planned route; d. Observe the real-time detection of obstacles by the unmanned surface vessel; 2) Dynamic obstacle avoidance: The test vessel and the accompanying vessel travel in the same direction. a. Plan the unmanned surface vessel's route from point C to point D, and activate obstacle avoidance mode at the ground control station; b. The accompanying vessel travels from point C to point D at a specified speed. The base station sends a task to the unmanned vessel. The unmanned vessel chases the accompanying vessel along the planned route CD at a specified speed and observes whether the unmanned vessel autonomously avoids obstacles. c. Record whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward, and reaches the end of the planned route; d. Plan the unmanned surface vessel's route from point E to point F, and activate obstacle avoidance mode at the ground control station; e. The accompanying vessel sails from point F to point E. The ground control station sends a task to the unmanned surface vessel. The unmanned surface vessel travels towards the accompanying vessel along the planned route EF at a specified speed. The system records whether the unmanned surface vessel autonomously avoids obstacles. f. Record whether the unmanned surface vessel autonomously returns to the original planned route after avoiding obstacles and continues to move forward until it reaches the end of the planned route; If the unmanned surface vessel meets all of the following criteria, it is considered to have passed; otherwise, it is considered to have failed: a. To achieve rapid detection, tracking, and autonomous collision avoidance of typical water surface targets within a range of 50-1000 meters for unmanned surface vessels, ensuring navigation safety in shallow water areas; b. It has the ability to avoid multiple moving and static targets in real time, with a number of moving / static targets ≥ 5.

8. The unmanned surface vessel (USV) functional testing method according to claim 1, characterized in that, External system access testing methods include: 1) Using the specified interface protocol technical requirements, the RCG test tool simulates the master control end sending and receiving commands through the network port of the backpack communication system; 2) Maneuver the unmanned surface vessel to a suitable navigation area; 3) The ground control station switches to autonomous navigation mode; 4) The ground control station activates obstacle avoidance mode, turns on the radar, and sends the path task to the unmanned surface vessel via the RCG testing tool; 5) Whether the unmanned surface vessel (USV) is sailing along the planned route, and whether it is transmitting navigation data and radar target detection information in real time; 6) Record whether the unmanned surface vessel is idling and rotating in place when it reaches the end of the planned route; If the unmanned surface vessel meets all of the following criteria, it is considered to have passed; otherwise, it is considered to have failed: a. Correctly receive the master control terminal's path sequence tasks, display them on the ground control station, and execute them correctly; b. Real-time transmission of navigation status information and real-time transmission of radar target detection information.

9. An unmanned surface vessel (USV) functional testing system for implementing the unmanned surface vessel (USV) functional testing method according to any one of claims 1 to 8, characterized in that, include: A wireless remote control and communication function test module, used for testing methods of wireless remote control and communication functions; An unmanned control and display function test module is used to conduct unmanned control and display function test methods. The route tracking performance test module is used to conduct route tracking performance test methods. The autonomous collision avoidance capability testing module is used to conduct autonomous collision avoidance capability testing methods. The external system access test module is used to conduct external system access test methods.

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