Underwater vehicle laying and recovery monitoring system and method based on digital twinning

Abstract

The invention discloses a digital twinning-based underwater vehicle laying and recovery monitoring system and method. The system comprises a basic data layer, a training layer, a training layer and a training layer, wherein the basic data layer is used for inputting actual motion information of an underwater vehicle and calling a motion model database and a visual model database; the data communication layer is used for realizing external communication including information receiving and distribution, information comprehensive processing, data storage and replay, resource allocation, task management and competition processing; the data processing layer is used for realizing algorithm functions including motion simulation, motion prediction and collision alarm; and the application interaction layer is used for realizing man-machine interaction functions including three-dimensional display, man-machine interaction, two-dimensional display and video display. According to the method, the submarine double-acting platform digital twin model is utilized to monitor and early warn the launching and recovery process of the underwater vehicle, so that a digital monitoring means of virtual-real interaction is realized; an open architecture method using a digital model is provided, and the method can be applied to system software such as decision-making early warning and testing of equipment.

Description

Technical Field

[0001] The present invention relates to the field of ship electronic information design, and in particular to a digital twin-based underwater vehicle deployment and recovery monitoring system and method. Background Art

[0002] In order to solve the problem that the trajectory prediction of the vehicle is difficult due to factors such as water flow interference, vehicle interaction, change of control intention, detection blind spot, and limited communication during the deployment and recovery of the vehicle, which in turn affects the smooth progress of the recovery mission, a nonlinear hydrodynamic interference solution technology for catamaran motion is developed based on the computational fluid dynamics method. The change law of fluid dynamic interference in the process of underwater recovery of the manned vehicle close to the large vehicle is revealed, and a dynamic space motion digital model suitable for the underwater deployment and recovery of the manned vehicle is established. Furthermore, the dual-motion platform motion model and interference force model are identified and corrected based on the mother ship navigation test data. Based on the digital model, the motion trend changes of the mother ship and the vehicle during the deployment and recovery process are monitored by visual sensors to ensure the safe progress of the deployment and recovery mission.

[0003] Through the development of virtual-reality interaction application extension components, the virtual-reality interaction interface between the actual equipment and the digital model, the interaction interface between the actual equipment / digital model and the visual scene model, and the interaction interface between the digital model and the system simulation environment are opened up. Through the visual scene model and special interface development, a set of intuitive virtual-reality interaction scene display systems with strong human-computer interactivity are formed, forming an integrated platform for the integration, operation, virtual-reality interaction, and visualization of digital prototype virtual-reality interaction models. Through the virtual-reality interaction interface, the interaction channel between the digital model and the real object is opened up, the digital model can receive the real object status data in real time to synchronize the virtual and real states, invert and display key indicators through the digital model, and intuitively display the system operation status through the visual scene model, which can realize the system operation status deduction in the case of communication interruption and the comprehensive monitoring of the system status when communication is restored. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an underwater vehicle deployment and recovery monitoring system and method based on digital twins in response to the defects in the prior art. The system and method can construct a dynamic space motion model for the underwater deployment and recovery of the carrying vehicle. Based on the model, visual sensors are used to monitor the changes in the motion trends of the mother ship and the vehicle during the deployment and recovery process to ensure the safe implementation of the deployment and recovery mission.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] The present invention provides an underwater vehicle deployment and recovery monitoring system based on digital twins, which is arranged on a mother ship and an underwater vehicle. The system comprises: an application interaction layer, a data processing layer, a data communication layer and a basic data layer; wherein:

[0007] The basic data layer is used to input the actual motion information of the underwater vehicle, and call the motion model database and the visual model database;

[0008] Data communication layer, used to realize external communication, including information reception and distribution, information comprehensive processing, data storage and replay, resource allocation, task management and competition processing;

[0009] The data processing layer is used to implement algorithm functions including motion simulation, motion prediction, and collision alarm;

[0010] The application interaction layer is used to realize human-computer interaction functions including three-dimensional display, human-computer interaction, two-dimensional display and video display.

[0011] Furthermore, the present invention also includes a digital twin submodule, which specifically includes:

[0012] Motion simulation module, used to support real-time six-degree-of-freedom motion simulation of mother ship, motion simulation of rudder blade or auxiliary propulsion actuator, controller simulation; real-time six-degree-of-freedom motion simulation, actuator simulation, control strategy simulation of underwater vehicle; motion simulation of mother ship's deployment device;

[0013] The hydrodynamic identification module is used to support online identification of hydrodynamic disturbances in conjunction with actual navigation data and to intervene in the motion simulation process in real time;

[0014] Model calibration module, used to support online identification in conjunction with actual navigation data and to correct existing motion model parameters or outputs in real time;

[0015] Motion prediction module, used to support prediction processing based on motion deduction data, prediction processing based on actual motion data, and Kalman filter processing combining the two prediction algorithms;

[0016] The collision warning module is used to calculate the collision risk and then issue a collision warning.

[0017] Furthermore, the present invention also includes an interface submodule for connecting each layer of the system, and the interface submodule specifically includes:

[0018] An information receiving module is used to receive the movement information of the mother ship, the movement information of the recovery and deployment device, and the movement information of the aircraft;

[0019] The information comprehensive processing module is used to judge the validity of the data, judge the timeliness of the data, align the time and space of the received data, and calculate the relative motion information;

[0020] The information distribution module is used to distribute the processed mother ship motion information, deployment device motion information, aircraft motion information and relative motion information.

[0021] Furthermore, the present invention also includes a visualization submodule, which specifically includes:

[0022] The visual model database is used to support the 3D model and scene model. The 3D model includes models of the mother ship, underwater vehicle, deployment device, and surface protrusions such as guidance sound and cursor;

[0023] Display element module, used to support situation information and planned route, relative motion information, hydrological information and control command information, where the situation information includes environmental situation information, motion information display of underwater vehicles and mother ships, motion information of deployment devices and actuator information display, and light and sound beacon status display;

[0024] The interactive support module is used for perspective switching and model configuration, that is, accessing the three-dimensional visual model database of the simulation scene, loading the corresponding mother ship model, vehicle model and deployment device model; data source configuration, that is, adjusting the actual data source or interface for parameter configuration.

[0025] The present invention provides a method for monitoring the deployment and recovery of an underwater vehicle based on digital twins, comprising:

[0026] Step 1: Build the underwater vehicle deployment and recovery monitoring system architecture based on digital twins, including application interaction layer, data processing layer, data communication layer and basic data layer;

[0027] Step 2: Obtain the underwater vehicle deployment and recovery monitoring data and historical data based on the digital twin, verify the legitimacy of the monitoring data, and calculate the forecast value and collision risk information of each underwater vehicle based on the monitoring data and historical data;

[0028] Step 3: The digital twin model sequentially loads the distribution subscription library, motion prediction library, hydrodynamic identification library, model calibration library, collision warning library, and distribution library, and parses the acquired and calculated information through each library;

[0029] Step 4: Display the scene based on the digital twin model and the analysis results, including the construction of the virtual scene and the design of the roaming engine; the virtual scene construction includes the construction of a three-dimensional solid model and the generation and integration of media to obtain a scene database; and the roaming engine is used to realize the three-dimensional real-time display of the scene and the interactive control during roaming.

[0030] Furthermore, the method of step 2 of the present invention comprises:

[0031] The interface submodule first receives the latitude and longitude, depth, heading, pitch, roll, speed, rudder angle, auxiliary thrust, motion state information of the deployment and recovery device, and relative position of the catamaran motion of the underwater vehicle sent by the external system from the network;

[0032] After receiving the data, the data is checked for legitimacy, and after eliminating erroneous data, the data is stored on the disk and distributed to the motion simulation module, motion prediction module, and collision warning module;

[0033] The motion simulation module, motion prediction module and collision warning module perform calculations based on the received data and historical data to calculate the predicted value and collision risk information of each navigation body.

[0034] Furthermore, the method of step 3 of the present invention comprises:

[0035] After receiving external information data, including the configuration instructions of the visualization submodule and the motion information of the interface submodule, the subscription library is called for parsing to complete the model loading and state synchronization with the actual scene; then when the simulation cycle is triggered, the motion simulation solution is started, and the hydrodynamic identification library is called to obtain interference information, and the model calibration library is called to complete the motion model output information parameter correction, and then the motion prediction library is called to complete the motion prediction information generation, the collision warning library is called to complete the warning information generation, and finally the distribution library is called to complete the information sending.

[0036] Furthermore, the method of step 4 of the present invention comprises:

[0037] The movement of virtual people and the change of scenes in scene roaming are realized through interactive control; the generated scene database is loaded into the memory and displayed in real time on the output device, and the roaming route and position are controlled in real time through the interactive device to achieve the roaming effect.

[0038] Furthermore, the method of step 4 of the present invention comprises:

[0039] Choose the Three.js open source rendering engine as the backend rendering. Three.js uses javascript to write 3D programs. Three.js hides the basic graphics rendering details of WebGL.

[0040] Users use Three.js to draw 3D graphics, generate animations, move objects in the scene, apply different textures and materials to objects, and use various 3D modeling software file formats, supporting direct import of models for online rendering;

[0041] Three.js is a 3D engine library based on WebGL. It encapsulates the underlying data methods of WebGL and implements development by directly calling these underlying data methods.

[0042] The present invention provides a computer-readable storage medium storing a computer program for implementing the above-mentioned underwater vehicle deployment and recovery monitoring method based on digital twins when executed by a processor.

[0043] The beneficial effects produced by the present invention are:

[0044] 1. The present invention constructs a dynamic space motion model for underwater deployment and recovery of a carrying navigation body. Based on the model, visual sensors are used to monitor the changes in the motion trends of the mother ship and the navigation body during the deployment and recovery process to ensure the safe implementation of the deployment and recovery mission.

[0045] 2. Make full use of the digital twin model of the dual-motion platform of the underwater vehicle to monitor and warn the deployment and recovery process of the underwater vehicle, realizing a digital monitoring method of virtual-real interaction;

[0046] 3. It provides an open architecture method for utilizing digital models, which can serve in system software such as equipment decision-making, warning and testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0048] Figure 1 It is a diagram of the deployment and recovery monitoring architecture of an underwater vehicle based on digital twins according to an embodiment of the present invention;

[0049] Figure 2 It is a data flow diagram of deployment and recovery of underwater vehicles based on digital twins according to an embodiment of the present invention;

[0050] Figure 3 is a digital twin workflow diagram of an embodiment of the present invention;

[0051] Figure 4 is a flow chart of a scenario display based on a model according to an embodiment of the present invention;

[0052] Figure 5 It is the digital twin submodule function of the embodiment of the present invention;

[0053] Figure 6 It is the interface submodule function of the embodiment of the present invention;

[0054] Figure 7 It is the visualization submodule function of the embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution 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 used to limit the present invention.

[0056] Example 1

[0057] like Figure 1 As shown, the underwater vehicle deployment and recovery monitoring method based on digital twins in an embodiment of the present invention has a technical solution as follows:

[0058] The first step is to design the underwater vehicle deployment and recovery monitoring architecture based on digital twins.

[0059] The software platform uses a layered design pattern. Layered design means grouping functions in an orderly manner: application functions are located in the upper layer, data management and service functions are located in the middle layer, and the functions of obtaining software and hardware resources are located in the bottom layer. Layering logically divides subsystems into many sets, and the formation of relationships between layers must follow certain rules. Through layering, the dependencies between subsystems can be limited, making the system more loosely coupled and easier to maintain.

[0060] The software platform is mainly divided into four layers, namely application interaction layer, data processing layer, data communication layer and basic data layer. The basic data layer realizes the input of actual motion information, the call of motion model database and visual model database, etc.; the data communication layer realizes external communication including information reception and distribution, information comprehensive processing, data storage and replay, resource allocation, task management and competition processing, etc.; the data processing layer includes motion simulation, motion prediction, collision alarm and other algorithm implementation functions; the application interaction layer includes: three-dimensional display, human-computer interaction, two-dimensional display and video display. The platform system architecture is shown in the attached Figure 1 shown.

[0061] The second step is to design the underwater vehicle deployment and recovery monitoring data flow based on digital twins

[0062] The design of underwater vehicle deployment and recovery monitoring data flow based on digital twin is attached. Figure 2 When the mother ship is performing deployment and recovery work, the interface submodule first receives the motion state information such as the longitude and latitude, depth, heading, pitch, roll, speed, rudder angle, auxiliary thrust, deployment and recovery device of the navigation body, and the relative position (distance and orientation) of the catamaran from the network sent by the external system.

[0063] After receiving the data, the data is checked for legitimacy, and after removing the erroneous data, the data is stored on the disk, and the data is directly forwarded to the Disp submodule through the information sending module. At the same time, the data is also distributed to the motion simulation module, motion prediction module, and collision warning module.

[0064] The motion simulation module, motion prediction module and collision warning module perform calculations based on the received data and historical data to calculate the predicted value and collision risk of each navigation body.

[0065] After the information receiving module receives the vehicle motion forecast information, warning information and video stream sent by DTS, it stores the video stream on the disk to facilitate subsequent direct replay or replay in a laboratory environment. On the other hand, it forwards the three-dimensional display module, two-dimensional display module and video display module through the information distribution module.

[0066] Step 3: Application of Digital Twin Model

[0067] The digital twin loads the distribution subscription library, motion prediction library, hydrodynamic identification library, model calibration library and collision warning library in sequence; after receiving external information data, including the configuration instructions of the visualization submodule and the motion information of the interface submodule, the subscription library is called for parsing to complete the model loading and state synchronization with the actual scene; then when the simulation cycle is triggered, the motion simulation solution is started, and the hydrodynamic identification library is called to obtain interference information, and the model calibration library is called to complete the correction of the motion model output information parameters, and then the motion prediction library is called to complete the motion prediction information generation, the collision warning library is called to complete the warning information generation, and finally the distribution library is called to complete the information sending. The digital twin workflow is as shown in the attached figure. Figure 3 shown.

[0068] Step 4: Model-based scene display

[0069] The model-based scene display mainly includes the construction of virtual scenes and the design of roaming engines. Among them, the construction of virtual scenes mainly includes the construction of three-dimensional entity models and the generation and integration of media including images and sounds, and finally obtains the scene database. The roaming engine mainly realizes the three-dimensional real-time display of the scene and the interactive control during roaming. The final operation of the system depends on the roaming driver in the background. Logically, the movement of virtual people and the change of scenes in the scene roaming are the results of interactive control. As long as the generated scene database is loaded into the memory and displayed in real time on the output device, and the roaming route and position are controlled in real time through certain interactive devices, the general effect of roaming is achieved. Therefore, the program design of the simulation roaming system mainly includes two parts: three-dimensional graphic display and input command control, while ensuring the real-time and interactivity of the system.

[0070] Taking into account the interactive comfort, operating efficiency and autonomous controllability of the rendering engine, the Three.js open source rendering engine was selected as the backend rendering. Three.js uses javascript to write 3D programs. Three.js hides the basic graphics rendering details of WebGL. Users can use Three.js to draw simple or complex 3D graphics, generate animations, move objects in the scene, apply different textures and materials to objects, and use various 3D modeling software file formats. It supports direct import of models for online rendering. Three.js is a 3D engine library based on WebGL. It has encapsulated some of the more basic data methods of WebGL for direct calling. To a certain extent, it reduces the difficulty of getting started and developing 3D models. Three.js is based on WebGL, so the use of Three.js does not require the installation of additional drawing rendering plug-ins, and can be completed on the browser. See the attached scene display process. Figure 4 shown.

[0071] Example 2

[0072] In another embodiment of the present invention, the dual-action platform simulation is mainly composed of a model library and a visual simulation system. The model library includes two types: three-dimensional models and functional models. The main hull, thruster, rudder, propeller blades, etc. of various navigation bodies are modeled, and the models of the mechanical arms, clamping devices, recovery cages, etc. of various deployment and recovery devices are modeled. The visual simulation system can integrate and simulate various models and algorithms and perform visual display.

[0073] The dual-action platform simulation includes the integration of simulation algorithms, business components, databases, etc., involving comprehensive application scenarios of scene simulation, model simulation and correction. The task scheduling layer is the core of the business organization, and a variety of middleware (business components, task scheduling, message communication, data cache, 3D visualization components, protocol parsing services, report components) provide support for data generation, transmission, conversion, and display to achieve the entire work cycle of simulation and correction analysis. Specifically, in each workflow, the data management module realizes the unified management of various data within the current process life cycle.

[0074] Based on the dual-action platform simulation model, the design of underwater vehicle deployment and recovery monitoring includes three modules: digital twin sub-module, interface sub-module and visualization sub-module.

[0075] 1. Digital Twin Module

[0076] The functions of the digital twin module are shown in the attached Figure 5 The detailed description is as follows:

[0077] Motion simulation supports real-time six-degree-of-freedom motion simulation of the mother ship platform, motion simulation of rudder blades or auxiliary thrust actuators, and controller simulation; real-time six-degree-of-freedom motion simulation, actuator simulation, and control strategy simulation of the vehicle; and motion simulation of the deployment device.

[0078] Hydrodynamic identification supports online identification of hydrodynamic disturbances in conjunction with actual navigation data, and real-time intervention in the motion model simulation process.

[0079] Model calibration supports online identification in conjunction with actual navigation data, and real-time correction of existing motion model parameters or outputs;

[0080] Motion prediction supports prediction processing based on motion deduction data, prediction processing based on actual motion data, and Kalman filter processing that combines the two prediction algorithms.

[0081] The digital twin submodule includes the digital twin model itself, as well as its related services and functions, which are used to create, manage, optimize and monitor digital twins. The functions and services mainly include:

[0082] Model creation and configuration: Allows users to create digital twin models and define model parameters, boundary conditions, and initialization conditions.

[0083] Data synchronization and update: Ensure that the digital twin model is synchronized with the state of the actual object, while supporting periodic or event-triggered data updates.

[0084] Model optimization: Provides tools and algorithms so that users can optimize and adjust parameters of digital twin models to more accurately reflect the behavior of real objects.

[0085] Model monitoring: Monitor the status of the digital twin model in real time to detect anomalies or deviations from expected behavior.

[0086] Simulation and Prediction: Allows users to perform simulations, predict the future behavior of the system based on the digital twin model, and perform simulation experiments of different scenarios.

[0087] 2. Interface submodule

[0088] The functions of the interface submodule are shown in the attached Figure 6 The detailed description is as follows:

[0089] Information reception: receiving the movement information of the mother ship, receiving the movement information of the recovery and deployment device, and receiving the movement information of the aircraft;

[0090] Comprehensive information processing, determination of data validity, determination of data timeliness, time alignment and space alignment of the above three types of received data (coordinate system 1, dimension unification and normalization of individual data), and calculation of relative motion information (relative position, relative speed);

[0091] Information distribution: distribution of processed mother ship motion information, deployment device motion information, vehicle motion information and relative motion information.

[0092] The interface submodule is used to connect and interact with various parts of the system, including user interfaces, hardware devices, sensors, simulation models, digital twin models, etc. Its functions and services may include:

[0093] Data transmission and communication: Ensure that data can be effectively transmitted and communicated between different components.

[0094] External system integration: allows the system to be integrated with external devices or systems, such as sensors, experimental equipment, control systems, etc.

[0095] Model Interfaces: Provide interfaces to connect the simulation model or digital twin model with visualization and user interfaces for interaction.

[0096] Control interface: allows users to control the parameters and status of the simulation or digital twin through the interface submodule.

[0097] Data import and export: Supports importing external data into the system, and exporting system-generated data to other applications or systems.

[0098] 3. Visualization submodule

[0099] The functions of the visualization submodule are shown in the attached Figure 7 The detailed description is as follows:

[0100] The visual model database supports 3D models and scene (environment) models. The 3D model includes models of mother ships, vehicles, deployment devices, and surface protrusions such as guidance sounds and cursors.

[0101] Display elements support situation information and planned routes (recovery paths), relative motion information, hydrological information (assessed interference force information) and control command information, where the situation information includes environmental situation information, motion information of the aircraft and the mother ship (heading line, velocity vector line, predicted trajectory line and historical trajectory line), display of the motion information of the deployment device and actuator information, and display of the state of the optical and acoustic beacon;

[0102] Interaction support, perspective switching (3D scene roaming perspective and bird's-eye view perspective), model configuration, i.e. accessing the 3D model database of the simulated scene, loading the corresponding mother ship model, vehicle model and deployment device model, etc., data source configuration, i.e. adjusting the actual data source or interface for parameter configuration;

[0103] The main goal of the visualization submodule is to present the results and data of the digital twin or simulation in an understandable and interactive way to help users observe, analyze and understand system behavior. Functions and services may include:

[0104] Data visualization: Present sensor data, simulation results, or digital twin model output in the form of graphs, charts, animations, or other visualizations.

[0105] User Interface: Provide a user-friendly interface so that users can interact with the system, set parameters, and perform simulation or digital twin operations.

[0106] Real-time monitoring: Allows users to monitor system status and performance in real time, as well as interact with the system.

[0107] Results Analysis: Provides tools and capabilities for users to conduct in-depth analysis and exploration of simulation results or digital twin model data.

[0108] Scenario Editing: Allows users to create, edit, and manage scenarios and conditions for simulations or digital twins.

[0109] Visualization Configuration: Allows users to customize visualization parameters, chart settings, color schemes, etc. to suit their specific needs.

[0110] It should be understood 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.

[0111] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A digital twin-based underwater vehicle deployment and recovery monitoring system, which is installed on a mother ship and an underwater vehicle, and is characterized in that: The system includes: application interaction layer, data processing layer, data communication layer and basic data layer; wherein: The basic data layer is used to input the actual motion information of the underwater vehicle, and call the motion model database and the visual model database; Data communication layer, used to realize external communication, including information reception and distribution, information comprehensive processing, data storage and replay, resource allocation, task management and competition processing; The data processing layer is used to implement algorithm functions including motion simulation, motion prediction, and collision alarm; The application interaction layer is used to realize human-computer interaction functions including three-dimensional display, human-computer interaction, two-dimensional display and video display.

2. The underwater vehicle deployment and recovery monitoring system based on digital twin according to claim 1 is characterized in that: It also includes a digital twin submodule, which specifically includes: Motion simulation module, used to support mother ship real-time six-degree-of-freedom motion simulation, rudder blade or auxiliary thrust actuator motion simulation, controller simulation; underwater vehicle real-time six-degree-of-freedom motion simulation, actuator simulation, control strategy simulation; mother ship deployment device motion simulation; The hydrodynamic identification module is used to support online identification of hydrodynamic disturbances in conjunction with actual navigation data and to intervene in the motion simulation process in real time; Model calibration module, used to support online identification in conjunction with actual navigation data and to correct existing motion model parameters or outputs in real time; Motion prediction module, used to support prediction processing based on motion deduction data, prediction processing based on actual motion data, and Kalman filter processing combining the two prediction algorithms; The collision warning module is used to calculate the collision risk and then issue a collision warning.

3. The underwater vehicle deployment and recovery monitoring system based on digital twin according to claim 1 is characterized in that: It also includes interface submodules that connect various layers of the system. The interface submodules specifically include: An information receiving module is used to receive the movement information of the mother ship, the movement information of the recovery and deployment device, and the movement information of the aircraft; The information comprehensive processing module is used to judge the validity of the data, judge the timeliness of the data, align the time and space of the received data, and calculate the relative motion information; The information distribution module is used to distribute the processed mother ship motion information, deployment device motion information, aircraft motion information and relative motion information.

4. The underwater vehicle deployment and recovery monitoring system based on digital twin according to claim 1 is characterized in that: It also includes a visualization submodule, which specifically includes: The visual model database is used to support the 3D model and scene model. The 3D model includes models of the mother ship, underwater vehicle, deployment device, and surface protrusions such as guidance sound and cursor; Display element module, used to support situation information and planned route, relative motion information, hydrological information and control command information, where the situation information includes environmental situation information, motion information display of underwater vehicles and mother ships, motion information of deployment devices and actuator information display, and light and sound beacon status display; The interactive support module is used for perspective switching and model configuration, that is, accessing the three-dimensional visual model database of the simulation scene, loading the corresponding mother ship model, vehicle model and deployment device model; data source configuration, that is, adjusting the actual data source or interface for parameter configuration.

5. A method for monitoring the deployment and recovery of underwater vehicles based on digital twins, using the system according to any one of claims 1 to 4, characterized in that: include: Step 1: Build the underwater vehicle deployment and recovery monitoring system architecture based on digital twins, including application interaction layer, data processing layer, data communication layer and basic data layer; Step 2: Obtain the underwater vehicle deployment and recovery monitoring data and historical data based on the digital twin, verify the legitimacy of the monitoring data, and calculate the forecast value and collision risk information of each underwater vehicle based on the monitoring data and historical data; Step 3: The digital twin model sequentially loads the distribution subscription library, motion prediction library, hydrodynamic identification library, model calibration library, collision warning library, and distribution library, and parses the acquired and calculated information through each library; Step 4: Display the scene based on the digital twin model and the analysis results, including the construction of the virtual scene and the design of the roaming engine; the virtual scene construction includes the construction of a three-dimensional solid model and the generation and integration of media to obtain a scene database; and the roaming engine is used to realize the three-dimensional real-time display of the scene and the interactive control during roaming.

6. The underwater vehicle deployment and recovery monitoring method based on digital twin according to claim 5 is characterized in that: The method of step 2 comprises: The interface submodule first receives the latitude and longitude, depth, heading, pitch, roll, speed, rudder angle, auxiliary thrust, motion state information of the deployment and recovery device, and relative position of the catamaran motion of the underwater vehicle sent by the external system from the network; After receiving the data, the data is checked for legitimacy, and after eliminating erroneous data, the data is stored on the disk and distributed to the motion simulation module, motion prediction module, and collision warning module; The motion simulation module, motion prediction module and collision warning module perform calculations based on the received data and historical data to calculate the predicted value and collision risk information of each navigation body.

7. The underwater vehicle deployment and recovery monitoring method based on digital twin according to claim 5 is characterized in that: The method of step 3 comprises: After receiving external information data, including the configuration instructions of the visualization submodule and the motion information of the interface submodule, the subscription library is called for parsing to complete the model loading and state synchronization with the actual scene; then when the simulation cycle is triggered, the motion simulation solution is started, and the hydrodynamic identification library is called to obtain interference information, and the model calibration library is called to complete the motion model output information parameter correction, and then the motion prediction library is called to complete the motion prediction information generation, the collision warning library is called to complete the warning information generation, and finally the distribution library is called to complete the information sending.

8. The underwater vehicle deployment and recovery monitoring method based on digital twin according to claim 5 is characterized in that: The method of step 4 comprises: The movement of virtual people and the change of scenes in scene roaming are realized through interactive control; the generated scene database is loaded into the memory and displayed in real time on the output device, and the roaming route and position are controlled in real time through the interactive device to achieve the roaming effect.

9. The underwater vehicle deployment and recovery monitoring method based on digital twin according to claim 8 is characterized in that: The method of step 4 comprises: Choose the Three.js open source rendering engine as the backend rendering. Three.js uses javascript to write 3D programs. Three.js hides the basic graphics rendering details of WebGL. Users use Three.js to draw 3D graphics, generate animations, move objects in the scene, apply different textures and materials to objects, and use various 3D modeling software file formats, supporting direct import of models for online rendering; Three.js is a 3D engine library based on WebGL. It encapsulates the underlying data methods of WebGL and implements development by directly calling these underlying data methods.

10. A computer-readable storage medium, characterized in that: A computer program is stored, which is used to implement the underwater vehicle deployment and recovery monitoring method based on digital twin as described in any one of claims 5 to 9 when executed by a processor.

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