MBSE-based autonomous underwater vehicle navigation control system design method

Abstract

The invention discloses an MBSE-based autonomous underwater vehicle navigation control system design method, and the method comprises the steps: carrying out the forward design based on demands, carrying out the analysis of the state and behavior of a navigation control system based on the overall demands of a vehicle and a top use case, obtaining the overall demands of the navigation control system, and carrying out the design of the navigation control system. Comprising function requirements and performance requirements; performing function modeling of the navigation control system, and sequentially performing task use case analysis, function analysis and system architecture analysis of the navigation control system to obtain a function model of the navigation control system; establishing a navigation control system performance model, and respectively establishing a navigation control system path tracking algorithm model and a motion control algorithm model; combining the performance model of the navigation control system with the aircraft platform model, and performing simulation verification on the performance of the navigation control system; and performing iterative optimization on the navigation control algorithm model to form a reusable model library. According to the invention, the MBSE method is adopted to carry out the forward design of the aircraft control system.

Description

Technical Field

[0001] The present invention relates to the field of navigation manipulation design and control technology, and in particular to a design method of an autonomous underwater vehicle navigation control system based on MBSE. Background Art

[0002] The navigation control system is the core system to ensure the safety of autonomous underwater navigation of autonomous underwater vehicles, and is also the key to distinguish the intelligence levels of different vehicles. The navigation control system has functions such as path tracking, motion control, and navigation safety control. It has a large workload, complex functions, and higher reliability requirements.

[0003] Traditional navigation control system design still adopts a document-based design method, and software coding is carried out based on the software design manual. There are problems such as text ambiguity, difficulty in maintaining consistency between documents and actual systems, a large workload for functional modification in the later stage of the project, and poor system reusability. Summary of the invention

[0004] The purpose of the present invention is to provide a design method for an autonomous underwater vehicle navigation control system based on MBSE, adopt the advanced method of MBSE (model-based system engineering), carry out forward design of the vehicle control system, build a series of model libraries such as demand model, function model, performance model, etc., to achieve rapid capability generation of the navigation control system, advanced verification of system indicators, as well as iterative upgrade of functions and rapid reuse of models.

[0005] The technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides a method for designing a navigation control system of an autonomous underwater vehicle based on MBSE, the method comprising:

[0007] S1. Carry out demand-based forward design, analyze the navigation control system status and system behavior based on the overall requirements of the aircraft and top-level use cases, and obtain the overall requirements of the navigation control system, including functional requirements and performance requirements;

[0008] S2. Carry out functional modeling of the navigation control system. Based on the SysML standard modeling language, carry out task use case analysis, functional analysis, and system architecture analysis of the navigation control system in sequence to obtain the functional model of the navigation control system and complete the verification closed loop of functional requirements;

[0009] S3, establishing a navigation control system performance model, and respectively establishing a navigation control system path tracking algorithm model and a motion control algorithm model;

[0010] S4. Combine the navigation control system performance model with the aircraft platform model to perform navigation control system performance simulation verification and complete the performance requirement verification closed loop;

[0011] S5. Iteratively optimize the navigation control algorithm model to form a reusable model library.

[0012] In the above scheme, step S1 includes:

[0013] (1) Stakeholder Analysis

[0014] Conduct stakeholder analysis and system context analysis of the aircraft and navigation control system based on the overall mission requirements and user needs of the aircraft;

[0015] (2) Analysis of aircraft mission use cases and overall requirements of navigation control systems

[0016] Expand the aircraft mission use case to obtain the work scenarios related to the navigation control system, decompose and refine the functions related to navigation control, obtain the overall requirements of the navigation control system, and create a navigation control system use case.

[0017] In the above scheme, step S2 includes:

[0018] (1) Analysis of navigation control system behavior and functions

[0019] Analyze the state and system behavior of the navigation control system based on the overall requirements of the navigation control system and the top-level use cases; create use cases for the navigation control system, and expand the use cases layer by layer to conduct functional analysis of the navigation control system;

[0020] (2) Creation of navigation control system architecture

[0021] Cluster and refine the functions and activities to obtain the architecture of the navigation control system and clarify the internal functional module interfaces of the navigation control system;

[0022] (3) Navigation control system requirements refinement

[0023] Based on functional analysis, refine the requirements of the navigation control system, including functional and performance requirements; create a verification matrix from the navigation control system function to the navigation control system requirements, and a traceability matrix from the navigation control system requirements to the overall navigation control requirements;

[0024] (4) Module layer functional interface

[0025] The functions and architecture of each module of the navigation control system are further analyzed to obtain the internal interface and input and output interface of each module.

[0026] In the above scheme, step S3 includes:

[0027] (1) To achieve path tracking requirements, a path tracking guidance algorithm model is designed and a motion control model is established, including a speed control model, a heading control model, and a depth control model;

[0028] (2) Each model uses independent input and output interfaces and parameter configuration interfaces to facilitate the expansion and iterative upgrade of the control algorithm.

[0029] In the above solution, step S3 also includes:

[0030] The algorithm is adapted according to the configuration characteristics of the control systems of different aircraft platforms.

[0031] In the above scheme, step S4 includes:

[0032] The aircraft platform model includes the aircraft six-degree-of-freedom model and the control system models such as the main thruster, auxiliary thruster, and steering gear;

[0033] Based on the joint simulation of the navigation control system performance model and the aircraft platform model, the navigation control system functions and performance requirements are verified, and the speed control, depth control and heading control indicators are verified.

[0034] In the above scheme, step S5 includes:

[0035] The navigation control algorithm model generates embedded code and is quickly applied to engineering projects.

[0036] In a second aspect, the present invention provides a device for designing a navigation control system of an autonomous underwater vehicle based on MBSE, the device comprising:

[0037] The requirement analysis unit is used to carry out requirement-based forward design. Based on the overall requirements of the aircraft and the top-level use cases, the navigation control system status and system behavior are analyzed to obtain the overall requirements of the navigation control system, including functional requirements and performance requirements;

[0038] The functional modeling unit is used to model the navigation control system functions. Based on the SysML standard modeling language, it sequentially conducts the navigation control system task use case analysis, functional analysis, and system architecture analysis to obtain the navigation control system functional model and complete the verification closed loop of functional requirements.

[0039] The performance modeling unit is used to establish a performance model of the navigation control system, and to establish a path tracking algorithm model and a motion control algorithm model of the navigation control system respectively;

[0040] The simulation verification unit is used to combine the navigation control system performance model with the aircraft platform model to perform navigation control system performance simulation verification and complete the performance requirement verification closed loop;

[0041] The iterative optimization unit is used to iteratively optimize the navigation control algorithm model to form a reusable model library.

[0042] In a third aspect, the present invention provides an electronic device, comprising: a storage device for storing executable instructions; a processing device for executing the executable instructions stored in the storage device, to implement the MBSE-based autonomous underwater vehicle navigation control system design method described in any one of the above technical solutions.

[0043] In a fourth aspect, the present invention provides a storage medium storing a computer program, which, when executed, implements the MBSE-based autonomous underwater vehicle navigation control system design method described in any one of the above technical solutions.

[0044] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0045] The present invention adopts advanced model-based system engineering methods to carry out forward design of aircraft control systems, eliminating the text ambiguity problem of document-based design methods and ensuring the consistency between the model and the actual system; by building a series of model libraries, the rapid capability generation of the navigation control system and the advance verification of system indicators are realized; the model is easy to maintain and update, and has strong reusability, which can realize iterative upgrades of system functions and rapid reuse. The verified navigation control algorithm performance model can generate embedded code to reduce manual coding errors and can be quickly applied to engineering projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a flowchart of the implementation process of the method of the present invention;

[0047] Figure 2 It is a schematic diagram of aircraft user requirements;

[0048] Figure 3 Provide stakeholder analysis and system context architecture diagram;

[0049] Figure 4 This is a schematic diagram of a use case for a spacecraft mission;

[0050] Figure 5 This is a schematic diagram of the overall requirements of the navigation control system;

[0051] Figure 6 This is a schematic diagram of the navigation control system behavior;

[0052] Figure 7 This is a schematic diagram of the navigation control system architecture;

[0053] Figure 8 This is a schematic diagram of the navigation control system requirements;

[0054] Fig. 9 It is a schematic diagram of the internal structure and interface of the functional module of the navigation control system;

[0055] Fig.10 This is a schematic diagram of the path tracking guidance algorithm model;

[0056] Fig.11 It is a schematic diagram of the motion control algorithm model;

[0057] Fig.12 This is a schematic diagram of the navigation control system performance simulation verification model;

[0058] Fig.13 It is a schematic diagram of the simulation curve of the performance of the navigation control system;

[0059] Fig.14 Generate schematics for code of navigation control algorithm performance models;

[0060] Fig.15 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0062] The present invention proposes a design method for an autonomous underwater vehicle navigation control system based on MBSE (model-based systems engineering). The MBSE advanced method is adopted to carry out forward design of the vehicle control system, and a series of model libraries such as demand models, functional models, and performance models are constructed to achieve rapid capability generation of the navigation control system, advanced verification of system indicators, and iterative upgrade of functions and rapid model reuse.

[0063] The MBSE-based autonomous underwater vehicle navigation control system design method of the present invention is as follows: Figure 1 As shown, there are mainly 5 steps as follows:

[0064] Step 1: Carry out demand-based forward design. Based on the overall requirements of the aircraft and top-level use cases, analyze the navigation control system status and system behavior to obtain the navigation control system requirements, including functional requirements and performance requirements.

[0065] Step 2: Conduct functional modeling of the navigation control system. Based on the SysML standard modeling language, carry out navigation control system task use case analysis, functional analysis, and system architecture analysis in sequence to obtain the navigation control system functional model and complete the verification closed loop of functional requirements.

[0066] Step 3: Establish a navigation control system performance model, and establish a navigation control system path tracking algorithm model and a motion control algorithm model respectively.

[0067] Step 4: Combine the navigation control system performance model with the aircraft platform model to perform navigation control system performance simulation verification to complete the performance requirement verification closed loop.

[0068] Step 5: Iteratively optimize the navigation control algorithm model to form a reusable model library.

[0069] The MBSE-based autonomous underwater vehicle navigation control system design method of the present invention adopts a forward design method, establishes a functional model and a performance model of the navigation control system based on the navigation control system requirements, and combines the vehicle platform model and the environmental model to realize the verification of the navigation control system performance indicators.

[0070] Specifically, the MBSE-based autonomous underwater vehicle navigation control system design method of the embodiment of the present invention is carried out on a computer platform equipped with MBSE-related design software and Simulink software. The MBSE design software is used to create a navigation control system requirement model and a functional model, and the Simulink software is used to create a performance model, simulation verification, and embedded code generation.

[0071] Next, we will take the navigation control system design of an underwater unmanned platform as an example. Figure 1 As shown, the MBSE-based autonomous underwater vehicle navigation control system design method of the embodiment of the present invention includes the following steps:

[0072] Step 1: Carry out demand-based forward design. Based on the overall requirements of the aircraft and the top-level use cases, analyze the state and system behavior of the navigation control system to obtain the overall requirements of the navigation control system, such as Figure 2 shown.

[0073] (1) Stakeholder Analysis

[0074] First, based on the overall mission requirements and user needs of the aircraft, the aircraft and navigation control system stakeholders analysis and system context analysis are carried out, such as Figure 3 shown.

[0075] (2) Analysis of aircraft mission use cases and overall requirements of navigation control systems

[0076] Then, the aircraft mission use case (such as Figure 4 As shown in the figure, we can expand the navigation control system to obtain the working scenarios related to the navigation control system, decompose and refine the functions related to the navigation control, obtain the overall requirements of the navigation control system, and create a navigation control system use case, such as Figure 5 shown.

[0077] Step 2: Perform functional modeling of the navigation control system. Based on the SysML standard modeling language, perform task use case analysis, functional analysis, and system architecture analysis of the navigation control system in sequence to obtain a functional model of the navigation control system.

[0078] (1) Analysis of navigation control system behavior and functions

[0079] Based on the overall requirements of the navigation control system and the top-level use cases, analyze the state and system behavior of the navigation control system. Create a navigation control system use case, expand the use case layer by layer, and conduct a functional analysis of the navigation control system, such as Figure 6 shown.

[0080] (2) Creation of navigation control system architecture

[0081] Cluster and refine the functions and activities to obtain the navigation control system architecture and clarify the internal functional module interfaces of the navigation control system, such as Figure 7 shown.

[0082] (3) Requirements refinement of navigation control system

[0083] Based on the functional analysis, the requirements of the navigation control system are refined, including functional and performance requirements, such as Figure 8 As shown in the figure, a verification matrix from the navigation control system function to the navigation control system requirement and a traceability matrix from the navigation control system requirement to the overall navigation control requirement are created respectively.

[0084] (4) Module layer functional interface

[0085] The functions and architectures of each module of the navigation control system are further analyzed to obtain the internal interface and input and output interface of each module, such as Fig. 9 shown.

[0086] Step 3: Establish a navigation control system performance model, and respectively establish a navigation control system path tracking guidance algorithm model and a motion control algorithm model.

[0087] (1) To meet the path tracking requirements, a path tracking guidance algorithm model is designed, such as Fig.10 As shown, a motion control model is established, including a speed control model, a heading control model, and a depth (trimming) control model, such as Fig.11 shown.

[0088] (2) Each model uses independent input and output interfaces and parameter configuration interfaces to facilitate the expansion and iterative upgrade of the control algorithm. The algorithm can be adapted according to the configuration characteristics of the control system of different aircraft platforms.

[0089] Step 4: Combine the navigation control system performance model with the aircraft platform model to perform navigation control system performance simulation verification, such as Fig.12 shown.

[0090] The aircraft platform model includes the aircraft six-degree-of-freedom model and the control system models such as the main thruster, auxiliary thruster, and steering gear. Based on the joint simulation of the navigation control system performance model and the aircraft platform model, the navigation control system function and performance requirements are verified. The speed control, depth control, heading control and other indicators can be verified, such as Fig.13 shown.

[0091] Step 5: Iterate and optimize the navigation control algorithm model to form a reusable model library. The navigation control algorithm performance model can generate embedded code and be quickly applied to engineering projects, such as Fig.14 shown.

[0092] Based on the above-mentioned method for designing an autonomous underwater vehicle navigation control system based on MBSE, the present application also provides a device for designing an autonomous underwater vehicle navigation control system based on MBSE, the device comprising:

[0093] The requirement analysis unit is used to carry out requirement-based forward design. Based on the overall requirements of the aircraft and the top-level use cases, the navigation control system status and system behavior are analyzed to obtain the overall requirements of the navigation control system, including functional requirements and performance requirements;

[0094] The functional modeling unit is used to model the navigation control system functions. Based on the SysML standard modeling language, it sequentially conducts the navigation control system task use case analysis, functional analysis, and system architecture analysis to obtain the navigation control system functional model and complete the verification closed loop of functional requirements.

[0095] The performance modeling unit is used to establish a performance model of the navigation control system, and to establish a path tracking algorithm model and a motion control algorithm model of the navigation control system respectively;

[0096] The simulation verification unit is used to combine the navigation control system performance model with the aircraft platform model to perform navigation control system performance simulation verification and complete the performance requirement verification closed loop;

[0097] The iterative optimization unit is used to iteratively optimize the navigation control algorithm model to form a reusable model library.

[0098] An embodiment of the present invention further provides an electronic device, Fig.151 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, such as a smart phone, tablet computer, laptop computer, desktop computer, rack server, blade server, tower server or cabinet server (including an independent server or a server cluster composed of multiple servers) that can execute programs. The computer electronic device 20 of this embodiment includes at least but is not limited to: a memory 21 and a processor 22 that can communicate with each other through a system bus, such as Fig.15 It should be pointed out that Fig.15 Only an electronic device 20 having components 21 - 22 is shown, but it should be understood that implementing all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0099] In this embodiment, the memory 21 (i.e., readable storage medium) includes flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM). The memory 21 may also be an external storage device of the electronic device 20, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 20. Of course, the memory 21 may also include both the internal storage unit of the electronic device 20 and its external storage device. In this embodiment, the memory 21 is generally used to store the operating system and various application software installed in the electronic device 20, such as the program code of the autonomous underwater vehicle navigation control system design method based on MBSE in the method embodiment. In addition, the memory 21 may also be used to temporarily store various data that have been output or are to be output.

[0100] In some embodiments, the processor 22 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 22 is generally used to control the overall operation of the electronic device 20. In this embodiment, the processor 22 is used to run the program code stored in the memory 21 or process data, such as running a device storing the program code of the autonomous underwater vehicle navigation control system design method based on MBSE, so as to implement the autonomous underwater vehicle navigation control system design method based on MBSE in the method embodiment.

[0101] The present invention also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, and the program realizes corresponding functions when executed by a processor. The computer-readable storage medium of this embodiment is used to store the program code of the autonomous underwater vehicle navigation control system design method based on MBSE, and when executed by the processor, the autonomous underwater vehicle navigation control system design method based on MBSE of the method embodiment is realized.

[0102] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0103] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0106] In summary, the present invention provides a method, device, equipment and medium for designing a navigation control system for an autonomous underwater vehicle based on MBSE. It adopts advanced model-based system engineering methods to carry out forward design of the vehicle control system, eliminates the text ambiguity problem of document-based design methods, and ensures the consistency between the model and the actual system; by building a series of model libraries, it realizes the rapid capability generation of the navigation control system and the advanced verification of system indicators; the model is easy to maintain and update, and has strong reusability, which can realize iterative upgrades of system functions and rapid reuse. The verified navigation control algorithm performance model can generate embedded code to reduce manual coding errors and can be quickly applied to engineering projects.

[0107] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean 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 the present application.

[0108] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0109] It will be easily understood by those skilled in the art that the above are only 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 in the protection scope of the present invention.

Claims

1. A method for designing a navigation control system for an autonomous underwater vehicle based on MBSE, characterized in that: The method includes: S1. Carry out demand-based forward design, analyze the navigation control system status and system behavior based on the overall requirements of the aircraft and top-level use cases, and obtain the overall requirements of the navigation control system, including functional requirements and performance requirements; S2. Carry out functional modeling of the navigation control system. Based on the SysML standard modeling language, carry out task use case analysis, functional analysis, and system architecture analysis of the navigation control system in sequence to obtain the functional model of the navigation control system and complete the verification closed loop of functional requirements; S3, establishing a navigation control system performance model, and respectively establishing a navigation control system path tracking algorithm model and a motion control algorithm model; S4. Combine the navigation control system performance model with the aircraft platform model to perform navigation control system performance simulation verification and complete the performance requirement verification closed loop; S5. Iteratively optimize the navigation control algorithm model to form a reusable model library.

2. The MBSE-based autonomous underwater vehicle navigation control system design method according to claim 1 is characterized in that: Step S1 includes: (1) Stakeholder Analysis Conduct stakeholder analysis and system context analysis of the aircraft and navigation control system based on the overall mission requirements and user needs of the aircraft; (2) Analysis of aircraft mission use cases and overall requirements of navigation control systems Expand the aircraft mission use case to obtain the work scenarios related to the navigation control system, decompose and refine the functions related to navigation control, obtain the overall requirements of the navigation control system, and create a navigation control system use case.

3. The MBSE-based autonomous underwater vehicle navigation control system design method according to claim 1, characterized in that: Step S2 includes: (1) Analysis of navigation control system behavior and functions Analyze the state and system behavior of the navigation control system based on the overall requirements of the navigation control system and the top-level use cases; create use cases for the navigation control system, and expand the use cases layer by layer to conduct functional analysis of the navigation control system; (2) Creation of navigation control system architecture Cluster and refine the functions and activities to obtain the architecture of the navigation control system and clarify the internal functional module interfaces of the navigation control system; (3) Navigation control system requirements refinement Based on functional analysis, refine the requirements of the navigation control system, including functional and performance requirements; create a verification matrix from the navigation control system function to the navigation control system requirements, and a traceability matrix from the navigation control system requirements to the overall navigation control requirements; (4) Module layer functional interface The functions and architecture of each module of the navigation control system are further analyzed to obtain the internal interface and input and output interface of each module.

4. The MBSE-based autonomous underwater vehicle navigation control system design method according to claim 1, characterized in that: Step S3 includes: (1) To achieve path tracking requirements, a path tracking guidance algorithm model is designed and a motion control model is established, including a speed control model, a heading control model, and a depth control model; (2) Each model uses independent input and output interfaces and parameter configuration interfaces to facilitate the expansion and iterative upgrade of the control algorithm.

5. The MBSE-based autonomous underwater vehicle navigation control system design method according to claim 4 is characterized in that: Step S3 also includes: The algorithm is adapted according to the configuration characteristics of the control systems of different aircraft platforms.

6. The MBSE-based autonomous underwater vehicle navigation control system design method according to claim 1, characterized in that: Step S4 includes: The aircraft platform model includes the aircraft six-degree-of-freedom model and the control system models such as the main thruster, auxiliary thruster, and steering gear; Based on the joint simulation of the navigation control system performance model and the aircraft platform model, the navigation control system functions and performance requirements are verified, and the speed control, depth control and heading control indicators are verified.

7. The MBSE-based autonomous underwater vehicle navigation control system design method according to claim 1, characterized in that: Step S5 includes: The navigation control algorithm model generates embedded code and is quickly applied to engineering projects.

8. An autonomous underwater vehicle navigation control system design device based on MBSE, characterized in that: The device includes: The requirement analysis unit is used to carry out requirement-based forward design. Based on the overall requirements of the aircraft and the top-level use cases, the navigation control system status and system behavior are analyzed to obtain the overall requirements of the navigation control system, including functional requirements and performance requirements; The functional modeling unit is used to model the navigation control system functions. Based on the SysML standard modeling language, it sequentially conducts the navigation control system task use case analysis, functional analysis, and system architecture analysis to obtain the navigation control system functional model and complete the verification closed loop of functional requirements. The performance modeling unit is used to establish a performance model of the navigation control system, and to establish a path tracking algorithm model and a motion control algorithm model of the navigation control system respectively; The simulation verification unit is used to combine the navigation control system performance model with the aircraft platform model to perform navigation control system performance simulation verification and complete the performance requirement verification closed loop; The iterative optimization unit is used to iteratively optimize the navigation control algorithm model to form a reusable model library.

9. An electronic device, characterized in that: The electronic device comprises: A storage device for storing executable instructions; A processing device is used to execute the executable instructions stored in the storage device to implement the MBSE-based autonomous underwater vehicle navigation control system design method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed, the MBSE-based autonomous underwater vehicle navigation control system design method according to any one of claims 1 to 7 is implemented.

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