Sensor virtualization method and system for unmanned ship control system

Abstract

The invention provides a sensor virtualization method and system for an unmanned ship control system. The method comprises the following steps: establishing a sensor system model through mathematical modeling and simulation technologies; constructing a virtual environment for sensor testing and evaluation using computer graphics and virtual reality technologies; generating sensing data of the sensor in the virtual environment through simulation; various noises and interferences are generated through simulation in the virtual environment; and performing performance evaluation on the sensor based on the simulation result of the sensor in the virtual environment. According to the method, the problems of high cost and high risk of a traditional field test method are solved, and sensors such as sonar and photoelectric trackers are comprehensively tested, evaluated and optimized in a virtual environment through computer simulation and simulation technologies.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned boats, and in particular relates to a sensor virtualization method and system for an unmanned boat control system. Background Art

[0002] Currently, in the field of unmanned boats, sonar and optoelectronic trackers are two important sensor payloads. Sonar can detect and locate target objects through the propagation of sound waves in the water, while optoelectronic trackers use optical sensing technology to track targets with visible light or infrared. These two sensors play a vital role in the fields of ocean surveying, underwater navigation, and surface target monitoring.

[0003] Among them, sonar is a technology that uses the characteristics of sound waves propagating and reflecting in water to detect and locate target objects. The sonar system is mainly composed of a transmitter, a receiver, a signal processing unit, and a display and analysis system. In practical applications, sonar systems are widely used in underwater target detection, navigation, anti-submarine warfare and other fields. Specifically, the transmitter: the sonar transmitter is responsible for generating sound wave signals and transmitting them into the water. The sound wave signal can be single-frequency, multi-frequency or a series of pulses. The transmitter is usually made of materials such as piezoelectric ceramics. Receiver: The sonar receiver is another important component, which is responsible for receiving the sound wave signal reflected back from the target object in the water. The receiver is usually a highly sensitive sensor that can capture weak echo signals. Signal processing unit: The received sound wave signal will be sent to the signal processing unit for processing. The signal processing unit can filter, amplify, denoise and other operations on the signal to extract the characteristic information of the target. Display and analysis system: The processed sonar signal is usually transmitted to the display and analysis system for the operator to observe and analyze. These systems may be graphical display interfaces that show the location, shape and other characteristics of the target in the water.

[0004] An optoelectronic tracker is a device used to track the movement of a target object in an optical frequency band. It can be a sensor such as visible light, infrared or thermal infrared. An optoelectronic tracker is mainly composed of an optical sensor, a pan / tilt, a tracking algorithm and a control system. Optoelectronic trackers are widely used in military, aerospace, aviation, security and other fields. Specifically, optical sensor: The optical sensor is the core component of the optoelectronic tracker and is responsible for receiving optical signals from the target object. These optical signals can be visible light, infrared light or signals in other spectral ranges, depending on the application scenario of the optoelectronic tracker. Pan / tilt: The pan / tilt is a platform used to support optical sensors. It can achieve rotation and rotation in the horizontal and vertical directions, allowing the optical sensor to cover a wider field of view. Tracking algorithm: The optoelectronic tracker processes and analyzes the received optical signals through a built-in tracking algorithm. The tracking algorithm can identify the target object and calculate the position and movement trajectory of the target in the field of view. Control system: The control system is used to control the movement and tracking behavior of the optoelectronic tracker. According to the results of the algorithm calculation, the control system can rotate the pan / tilt and adjust the angle of the optical sensor to maintain stable tracking of the target in the field of view.

[0005] However, in order to ensure that the unmanned boat system is efficient and reliable in actual applications, the sonar and optoelectronic tracker must be fully tested and optimized. Traditional sonar and optoelectronic tracker testing methods usually require a lot of field testing, which is not only time-consuming and resource-intensive, but also poses safety risks.

[0006] Therefore, at this stage, there is an urgent need to develop a sensor virtualization method and system for unmanned boat control systems to solve the above-mentioned technical problems. Summary of the invention

[0007] In order to solve the above technical problems, the present invention proposes a sensor virtualization method and system technical solution for an unmanned boat control system to solve the above technical problems.

[0008] The first aspect of the present invention discloses a sensor virtualization method for an unmanned boat control system, the method comprising:

[0009] Step S1: Establishing a sensor system model through mathematical modeling and simulation technology;

[0010] Step S2: constructing a virtual environment for sensor testing and evaluation using computer graphics and virtual reality technology;

[0011] Step S3: generating sensor data of the sensor by simulation in the virtual environment;

[0012] Step S4: Generate various noises and interferences through simulation in a virtual environment;

[0013] Step S5: Evaluate the performance of the sensor based on the simulation results of the sensor in the virtual environment.

[0014] According to the method of the first aspect of the present invention, in S1, the sensor system model is a sonar system model or an optoelectronic tracker model.

[0015] According to the method of the first aspect of the present invention, when the sensor system model is an optoelectronic tracker model, before step S2, the method further includes: determining parameters of the optical sensor according to specific application scenarios and mission requirements of the unmanned boat.

[0016] According to the method of the first aspect of the present invention, when the sensor system model is a sonar system model, the step S3 specifically comprises: simulating and generating a sonar signal emitted by a sonar sensor and simulating an echo signal after the sonar signal interacts with a target object in a virtual environment;

[0017] Alternatively, when the sensor system model is an optoelectronic tracker model, step S3 specifically includes: simulating and generating image data collected by an optical sensor in a virtual environment.

[0018] According to the method of the first aspect of the present invention, when the sensor system model is an optoelectronic tracker model, step S3 further includes: connecting the image data collected by the optical sensor to the payload access control module for processing.

[0019] According to the method of the first aspect of the present invention, when the unmanned boat performs a target tracking task, the optical sensor in the optoelectronic tracker model is automatically turned on through the payload access control module.

[0020] The second aspect of the present invention discloses a sensor virtualization system for an unmanned boat control system, the system comprising:

[0021] The model module is configured to establish a sensor system model through mathematical modeling and simulation techniques;

[0022] A virtual environment modeling module, configured to construct a virtual environment for sensor testing and evaluation using computer graphics and virtual reality technology;

[0023] The data generation module is configured to generate sensor data of the sensor through simulation in the virtual environment;

[0024] The noise and interference simulation module is configured to generate various noises and interferences through simulation in a virtual environment;

[0025] The performance evaluation module is configured to perform performance evaluation on the sensor based on simulation results of the sensor in a virtual environment.

[0026] According to the system of the second aspect of the present invention, the sensor system model is a sonar system model or an optoelectronic tracker model.

[0027] According to the system of the second aspect of the present invention, when the sensor system model is an optoelectronic tracker model, the system further includes: a parameter determination module configured to determine the parameters of the optical sensor according to the specific application scenario and mission requirements of the unmanned boat.

[0028] According to the system of the second aspect of the present invention, when the sensor system model is a sonar system model, the data generation module is specifically configured to: simulate and generate a sonar signal emitted by a sonar sensor and simulate an echo signal after the sonar signal interacts with a target object in a virtual environment;

[0029] Alternatively, when the sensor system model is an optoelectronic tracker model, the data generation module is specifically configured to: simulate and generate image data collected by an optical sensor in a virtual environment.

[0030] According to the system of the second aspect of the present invention, the system further comprises a virtual data transmission and interface module configured to connect the image data collected by the optical sensor to the load access control module for processing.

[0031] According to the system of the second aspect of the present invention, the system also includes a payload access control module, which is configured to automatically turn on the optical sensor in the optoelectronic tracker model if the unmanned boat performs a target tracking mission; and automatically turn off the optical sensor in the virtual optoelectronic tracker model if the unmanned boat performs a cruising mission or an obstacle avoidance mission.

[0032] The sensor virtualization solution for the unmanned boat control system proposed in the present invention has the following advantages:

[0033] In summary, the sensor virtualization solution for the unmanned boat control system proposed in the embodiment of the present invention has the following advantages:

[0034] (1) Cost saving: The proposed virtualization method can replace the traditional field testing method and significantly reduce the cost of unmanned boat system development and testing. Traditional field testing involves high equipment and human resources investment, while virtualization testing only requires relatively less computing resources and software development costs.

[0035] (2) Improved safety: By conducting tests and evaluations in a virtual environment, the safety risks that may be faced in field tests are avoided. The unmanned boat does not have to be exposed to complex and dangerous environments, ensuring the safety of equipment and operators.

[0036] (3) Comprehensive evaluation: In a virtual environment, various complex scenarios and situations can be simulated, covering more test cases, and achieving a comprehensive evaluation of the performance of sonar and optoelectronic trackers. This helps to identify potential problems and make targeted optimizations.

[0037] (4) Efficient optimization: Virtualization methods make the testing and optimization process more efficient. Different parameter configurations and scenarios can be quickly simulated to optimize the performance of sonar and optoelectronic trackers, thereby accelerating the development of unmanned boat systems.

[0038] (5) Repeatability and verification: Test results in a virtual environment are repeatable, and similar results can be obtained even for multiple tests in the same scenario, which helps to verify the accuracy and reliability of the test results.

[0039] (6) Enhance system robustness: Comprehensive testing in a virtual environment helps improve the robustness of the unmanned vehicle system. By simulating different working conditions and complex scenarios in a virtual environment, the unmanned vehicle system can better cope with various challenges in actual applications.

[0040] (7) Promoting technological development: The sensor virtualization method provides strong support for the development of sensor technology for unmanned boat systems. Through virtualization testing, the performance and functions of unmanned boat sensors are continuously optimized, promoting the technological development of the entire industry.

[0041] (8) Application diversity: The virtualization method makes it easier to apply sensors on different types of unmanned boats. Since the testing process is carried out in a virtual environment, it can be easily adapted to unmanned boat systems of different models and configurations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A flow chart of a sensor virtualization method for an unmanned boat control system according to an embodiment of the present invention;

[0044] Figure 2 The structure of a sensor virtualization system for an unmanned boat control system according to an embodiment of the present invention is Figure 1 ;

[0045] Figure 3 The structure of a sensor virtualization system for an unmanned boat control system according to an embodiment of the present invention is Figure 2 ;

[0046] Figure 4 Schematic diagram of a load access control module according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] A first aspect of the present invention discloses a sensor virtualization method for an unmanned boat control system. Figure 1 FIG. 1 is a flow chart of a sensor virtualization method for an unmanned boat control system according to an embodiment of the present invention. Figure 1 As shown, the method includes:

[0049] Step S1: Establishing a sensor system model through mathematical modeling and simulation technology;

[0050] Step S2: constructing a virtual environment for sensor testing and evaluation using computer graphics and virtual reality technology;

[0051] Step S3: generating sensor data of the sensor by simulation in the virtual environment;

[0052] Step S4: Generate various noises and interferences through simulation in a virtual environment;

[0053] Step S5: Evaluate the performance of the sensor based on the simulation results of the sensor in the virtual environment.

[0054] In step S1, a sensor system model is established through mathematical modeling and simulation technology.

[0055] In some embodiments, the sensor system model in the sensor virtualization method for the unmanned boat control system of the present invention is a sonar system model or an optoelectronic tracker model.

[0056] Specifically, in this embodiment, a sonar system model can be established, which includes the physical characteristics and signal processing algorithms of the sonar sensor; an optoelectronic tracker model can also be established (i.e., the physical characteristics and functional model of the optoelectronic tracker is established), which involves the modeling of key components such as optical sensors and image processing algorithms. Through mathematical modeling and simulation, we can accurately describe the working principle and characteristics of the sensor. For example, the ray tracing method can be used to simulate the optical imaging process of the optical sensor, taking into account the influence of optical elements such as optical lenses and filters, as well as the response characteristics of the optoelectronic sensor.

[0057] In some embodiments, in the sensor virtualization method for the unmanned boat control system of the present invention, when the sensor system model is an optoelectronic tracker model, before step S2, it also includes: determining the parameters of the optical sensor according to the specific application scenario and mission requirements of the unmanned boat.

[0058] Specifically, according to the specific application scenarios and mission requirements of the unmanned boat, the parameters of the optical sensor need to be determined. The parameters of the optical sensor here include the resolution, field of view, spectral range, etc. of the sensor. These parameters will be used to simulate the working performance of the optical sensor in the virtual environment. For example, if the unmanned boat needs to track a target, it may be necessary to select an optical sensor with high resolution and a wide field of view. Of course, the parameters of the optical sensor can be flexibly adjusted according to the requirements of different tasks.

[0059] In step S2, a virtual environment for sensor testing and evaluation is constructed using computer graphics and virtual reality technology.

[0060] Specifically, building a virtual environment for testing and evaluation is a key step. The constructed virtual environment should be able to simulate various situations that unmanned boats may encounter in the real world. The virtual environment can include elements such as land, water, and target objects. In this embodiment, computer graphics and virtual reality technology are used to achieve modeling of the virtual environment. For example, a terrain generation algorithm is used to create underwater terrain to simulate underwater survey scenes.

[0061] In step S3, sensing data of the sensor is generated by simulation in the virtual environment.

[0062] In some embodiments, in the sensor virtualization method for the unmanned boat control system of the present invention, when the sensor system model is a sonar system model, the step S3 is specifically: simulating and generating a sonar signal emitted by a sonar sensor and simulating an echo signal after the sonar signal interacts with a target object in a virtual environment;

[0063] Alternatively, when the sensor system model is an optoelectronic tracker model, step S3 specifically includes: simulating and generating image data collected by an optical sensor in a virtual environment.

[0064] Specifically, in this embodiment, for the sonar system model, it is necessary to simulate and generate the signal emitted by the sonar sensor, and simulate the echo signal after the sonar signal interacts with the target object in the virtual environment; for the optoelectronic tracker model, in the virtual environment, it is necessary to simulate and generate the image data collected by the optical sensor. It should be noted that when simulating and generating the image data collected by the optical sensor, factors such as the parameters of the optical sensor and the lighting conditions in the virtual environment need to be considered. For example, if the unmanned boat performs a task under insufficient lighting, it is necessary to add an appropriate lighting model to the virtual environment to simulate the lighting conditions of the actual scene.

[0065] In some embodiments, when the sensor system model of the sensor virtualization method for the unmanned boat control system of the present invention is an optoelectronic tracker model, step S3 further includes: connecting the image data collected by the optical sensor to the payload access control module for processing.

[0066] In some embodiments, the sensor virtualization method for the unmanned boat control system of the present invention automatically turns on the optical sensor in the optoelectronic tracker model through the payload access control module when the unmanned boat performs a target tracking task.

[0067] In order to realize the payload access of the virtual optoelectronic tracker in this embodiment, it is necessary to establish a payload access control module to ensure that the virtual optoelectronic tracker can be flexibly turned on and off according to the mission requirements and environmental conditions of the unmanned boat, while ensuring the stability and accuracy of data transmission and image processing. According to the mission requirements and environmental conditions of the unmanned boat, the payload access control module decides whether to turn on the virtual optoelectronic tracker. After the virtual optoelectronic tracker is turned on, the virtual image data collected by the optical sensor is simulated and generated, and the data is transmitted to the image processing unit of the payload access control module for subsequent processing. In the unmanned boat control system, the virtual image data is used for target tracking, identification and other processing, and corresponding control instructions are generated to realize the control and operation of the virtual optoelectronic tracker.

[0068] In the control system of the unmanned boat, a specially designed payload access control module is used to control the virtual payload access of the optoelectronic tracker. If the unmanned boat needs to perform a target tracking task, the payload access control module will automatically turn on the virtual optoelectronic tracker to obtain virtual image data of the target object; in other tasks, such as cruising or obstacle avoidance, the optoelectronic tracker may not be required. At this time, the payload access control module will turn off the virtual optoelectronic tracker to reduce the burden of calculation and data transmission.

[0069] When the payload access control module decides to turn on the virtual photoelectric tracker, the virtual image data collected by the simulated optical sensor needs to be transmitted to the image processing unit for processing. In order to ensure the stability and real-time performance of data transmission, efficient data transmission protocols and technologies are used. For example, high-speed data bus or network transmission technology is used to ensure that the virtual image data can be transmitted to the image processing unit in a timely manner.

[0070] The virtual image data is processed by target tracking, recognition, etc., and the processing results will become the navigation and decision-making basis of the unmanned boat, and be used to achieve tasks such as autonomous navigation and target tracking.

[0071] According to the above processing results, corresponding control instructions are generated and virtualized instructions are passed to the control system of the unmanned boat. These control instructions will affect the actions of the unmanned boat, including steering, speed adjustment, target tracking, etc. In order to ensure the real-time and reliability of instruction transmission, efficient communication protocols and communication technologies are used to transmit instructions to the control system of the unmanned boat in a timely manner.

[0072] During the entire payload access process, the working status of the virtual optoelectronic tracker needs to be monitored in real time. This includes whether the data transmission is normal, whether the image processing is stable, etc. Through real-time monitoring, potential problems can be discovered and solved in time to ensure the stability and reliability of the payload access process.

[0073] The virtual optoelectronic tracker payload access process proposed in this embodiment realizes virtualized control and data processing of the optoelectronic tracker, and has the following advantages:

[0074] 1) Intelligent decision-making: The payload access control module can intelligently decide whether to turn on the virtual optoelectronic tracker based on the mission requirements and environmental conditions of the unmanned boat to achieve efficient resource utilization.

[0075] 2) Stability and real-time performance: Through efficient data transmission protocols and technologies, virtual photoelectric image data can be transmitted to the image processing module in a timely manner, achieving stability and real-time performance of payload data processing.

[0076] 3) Efficient image processing: The image processing unit is equipped with efficient and accurate image processing algorithms, which can achieve rapid target tracking and recognition in virtual environments.

[0077] 4) Real-time command transmission: Through efficient communication protocols and technologies, control commands can be transmitted to the unmanned boat's operating system in a timely manner, realizing instant control and operation of the unmanned boat.

[0078] 5) Real-time monitoring and troubleshooting: By real-time monitoring of the working status of the virtual optoelectronic tracker, we can promptly discover and solve potential problems to ensure the stability and reliability of the payload access process.

[0079] In step S4, various noises and interferences are generated in a virtual environment through simulation.

[0080] Specifically, this embodiment needs to simulate that the sensor (sonar sensor or optical sensor) may be subject to various noises and interferences in the virtual environment. For optical sensors, noise and interference include factors such as image noise, atmospheric turbulence, and optical distortion. In this embodiment, these factors can be introduced into the image data in the virtual environment by adding noise models and interference models to simulate the situations that the optical sensor may encounter in actual work.

[0081] In step S5, the performance of the sensor is evaluated based on the simulation results of the sensor in the virtual environment.

[0082] Specifically, this embodiment achieves a comprehensive evaluation of sensor performance in a virtual environment by flexibly simulating various complex scenarios and situations. For example, by virtualizing sonar, researchers and engineers can develop and optimize sonar systems more efficiently, reduce experimental costs and risks, and test and verify different scenarios in a virtual environment, providing strong support for the application and development of sonar technology. Through the virtualization of the optoelectronic tracker, the high cost and safety risk problems of traditional field tests are solved. At the same time, the virtualization method also has real-time simulation capabilities, which can respond to and process image data from the virtual optoelectronic tracker in a timely manner, and realize instant control and operation of the unmanned boat. At the same time, the test results in the virtual environment are repeatable, ensuring the accuracy and reliability of the test results.

[0083] The method of this embodiment is described in detail below using the virtualization process of the unmanned boat-borne optoelectronic tracker:

[0084] In this embodiment, it is necessary to combine computer technology, sensor technology and virtual environment modeling technology.

[0085] First, the hardware configuration is to configure a high-performance computer, which will be used to run the simulation and emulation of the virtual environment and the optoelectronic tracker. The computer's processor should have high computing power and multi-core processing capabilities to meet the needs of virtual environment modeling and simulation. At the same time, sufficient memory and storage space should be configured to store the virtual environment and optical image data. It is necessary to connect the real optoelectronic tracker hardware to the computer (including connecting the optical sensor, image processor and other hardware to the computer) to realize the payload access of the virtual optoelectronic tracker. Here, the connection can be made through common interface standards such as USB, Ethernet, etc.

[0086] Next, conduct virtual environment modeling: Use computer graphics and virtual reality technology to build a virtual environment for testing and evaluating the optoelectronic tracker. This environment should be able to simulate various situations that the unmanned boat may encounter in the real world. Choose appropriate virtual environment modeling software, such as Unity or Unreal Engine. Using the above software, import the 3D models and textures of actual underwater and surface scenes to build a realistic virtual environment. In order to simulate different environmental conditions, parameters such as lighting and water quality can be adjusted.

[0087] Then, the optical sensor modeling and simulation are carried out: the physical characteristics and functional model of the photoelectric tracker are established. For example, the optical imaging process of the optical sensor is modeled using the ray tracing method, considering the influence of optical elements such as optical lenses and filters, as well as the response characteristics of the photoelectric sensor.

[0088] In a virtual environment, image data collected by an optical sensor is simulated and generated. Based on the parameters of the optical sensor and the lighting conditions of the virtual environment, virtual image data similar to the actual optical image is generated.

[0089] After that, the payload access control module is designed: the payload access control module is designed to control the virtual payload access of the optoelectronic tracker. Intelligent decisions are made on whether to turn on the virtual optoelectronic tracker based on the mission requirements and environmental conditions of the unmanned boat. In this module, conditional judgment statements are set to automatically control the opening and closing of the virtual optoelectronic tracker based on the mission type, navigation status and environmental conditions of the unmanned boat. For example, when the unmanned boat performs a target tracking mission, the control module automatically turns on the optoelectronic tracker; in other missions, such as cruising or obstacle avoidance, the optoelectronic tracker is turned off to reduce the burden of calculation and data transmission.

[0090] Finally, the payload data is transmitted and processed: once the virtual optoelectronic tracker is turned on, the image data collected by the simulated optical sensor will be transmitted to the image processing unit for subsequent processing. Use efficient data transmission protocols and technologies to ensure that the virtual image data can be transmitted to the image processing unit in a timely manner. For example, use high-speed data bus or network transmission technology to ensure the stability and real-time performance of data transmission. In the image processing unit, the virtual optoelectronic image data is used for target tracking, identification and other processing. These processing results will become the basis for the navigation and decision-making of the unmanned boat, and are used to achieve tasks such as autonomous navigation and target tracking. Control command transmission and status monitoring are also required. According to the processing results of the image processing unit, the corresponding control commands are generated, and the virtualized commands are transmitted to the control system of the unmanned boat. Real-time monitoring of the working status of the virtual optoelectronic tracker, including whether the data transmission is normal and whether the image processing is stable, etc. Through real-time monitoring, potential problems can be discovered and solved in a timely manner to ensure the stability and reliability of the payload access process.

[0091] In order to realize the payload access process of the virtual optoelectronic tracker, it is necessary to combine software and hardware technologies. The following is a specific implementation method:

[0092] Design of payload access control module: The implementation method is to use embedded system or single chip microcomputer to design the payload access control module. Programming adopts C / C++ or similar languages, and combines sensor data and mission requirements to design intelligent decision-making algorithms. The module can be connected to the main control system of the unmanned boat through serial port or other communication interface.

[0093] Virtual photoelectric image data transmission: This is achieved by using high-speed data transmission protocols, such as Ethernet or USB3.0, to ensure that virtual image data can be transmitted to the image processing unit in a timely manner. In the unmanned boat control system, the corresponding virtual data transmission and interface modules are configured, and the driver for the data transmission protocol is written.

[0094] Payload data processing: This is achieved by selecting a suitable image processing library or algorithm, such as OpenCV, for processing virtual image data. Image processing algorithms are implemented through programming, including target detection, target tracking, image filtering, etc. In order to improve the efficiency of image processing, parallel computing technology can be used, such as GPU acceleration.

[0095] Control command transmission: The implementation method is to write a program to generate control commands, and generate corresponding control commands according to the image processing results, such as steering, speed adjustment, target tracking, etc. The generated control commands are sent to the main control module of the unmanned boat through the communication interface.

[0096] Payload access status monitoring: This is achieved by writing a status monitoring program to periodically or in real time detect the working status of the virtual photoelectric tracker. By monitoring sensor data and transmission status, the stability and reliability of the payload access process are ensured.

[0097] In summary, the sensor virtualization solution for the unmanned boat control system proposed in the embodiment of the present invention has the following advantages:

[0098] (1) Cost saving: The proposed virtualization method can replace the traditional field testing method and significantly reduce the cost of unmanned boat system development and testing. Traditional field testing involves high equipment and human resources investment, while virtualization testing only requires relatively small computing resources and software development costs.

[0099] (2) Improved safety: By conducting tests and evaluations in a virtual environment, the safety risks that may be faced in field tests are avoided. The unmanned boat does not have to be exposed to complex and dangerous environments, ensuring the safety of equipment and operators.

[0100] (3) Comprehensive evaluation: In a virtual environment, various complex scenarios and situations can be simulated, covering more test cases, and achieving a comprehensive evaluation of the performance of sonar and optoelectronic trackers. This helps to identify potential problems and make targeted optimizations.

[0101] (4) Efficient optimization: Virtualization methods make the testing and optimization process more efficient. Different parameter configurations and scenarios can be quickly simulated to optimize the performance of sonar and optoelectronic trackers, thereby accelerating the development of unmanned boat systems.

[0102] (5) Repeatability and verification: Test results in a virtual environment are repeatable, and similar results can be obtained even for multiple tests in the same scenario, which helps to verify the accuracy and reliability of the test results.

[0103] (6) Enhance system robustness: Comprehensive testing in a virtual environment helps improve the robustness of the unmanned vehicle system. By simulating different working conditions and complex scenarios in a virtual environment, the unmanned vehicle system can better cope with various challenges in actual applications.

[0104] (7) Promoting technological development: The sensor virtualization method provides strong support for the development of sensor technology for unmanned boat systems. Through virtualization testing, the performance and functions of unmanned boat sensors are continuously optimized, promoting the technological development of the entire industry.

[0105] (8) Application diversity: The virtualization method makes it easier to apply sensors on different types of unmanned boats. Since the testing process is carried out in a virtual environment, it can be easily adapted to unmanned boat systems of different models and configurations.

[0106] A second aspect of the present invention discloses a sensor virtualization system for an unmanned boat control system. Figure 2 FIG. 4 is a structural diagram of a sensor virtualization system for an unmanned boat control system according to an embodiment of the present invention; Figure 2 As shown, the system 200 includes:

[0107] The model module 201 is configured to establish a sensor system model through mathematical modeling and simulation technology;

[0108] A virtual environment modeling module 202 is configured to construct a virtual environment for sensor testing and evaluation using computer graphics and virtual reality technology;

[0109] The data generation module 203 is configured to generate sensor data of the sensor through simulation in the virtual environment;

[0110] The noise and interference simulation module 204 is configured to generate various noises and interferences by simulation in a virtual environment;

[0111] The performance evaluation module 205 is configured to perform performance evaluation on the sensor based on the simulation result of the sensor in the virtual environment.

[0112] In some embodiments, the sensor system model in the sensor virtualization system for the unmanned boat control system of the present invention is a sonar system model or an optoelectronic tracker model.

[0113] In some embodiments, see Figure 3 As shown, when the sensor system model is an optoelectronic tracker model, the sensor virtualization system for the unmanned boat control system of the present invention also includes: a parameter determination module, which is configured to determine the parameters of the optical sensor according to the specific application scenario and mission requirements of the unmanned boat.

[0114] In some embodiments, when the sensor system model is a sonar system model, the data generation module 203 is specifically configured to: simulate and generate a sonar signal emitted by a sonar sensor and simulate an echo signal after the sonar signal interacts with a target object in a virtual environment;

[0115] Alternatively, when the sensor system model is an optoelectronic tracker model, the data generation module is specifically configured to: simulate and generate image data collected by an optical sensor in a virtual environment.

[0116] In some embodiments, see Figure 3 As shown, the sensor virtualization system for the unmanned boat control system of the present invention also includes a virtual data transmission and interface module, which is configured to connect the image data collected by the optical sensor to the payload access control module for processing.

[0117] In some embodiments, see Figure 3 As shown, the sensor virtualization system for the unmanned boat control system of the present invention also includes a payload access control module, which is configured to automatically turn on the optical sensor in the optoelectronic tracker model if the unmanned boat performs a target tracking task; and automatically turn off the optical sensor in the virtual optoelectronic tracker model if the unmanned boat performs a cruising task or an obstacle avoidance task.

[0118] Figure 3 The virtualization modules of the unmanned boat-borne optoelectronic tracker and their relationships are shown:

[0119] Model module (i.e. optoelectronic tracker model module): responsible for establishing the physical characteristics and functional model of the optoelectronic tracker, including mathematical modeling and simulation of optical sensors and image processing algorithms. Through this module, the working performance of optical sensors can be simulated in a virtual environment.

[0120] Parameter determination module (i.e. optical sensor parameter determination module): determines the parameters of the optical sensor, such as resolution, field of view, spectral range, etc., according to the specific application scenario of the unmanned boat. These parameters will simulate the working performance of the optical sensor in the virtual environment.

[0121] Virtual environment modeling module: responsible for building a virtual environment for testing and evaluating optoelectronic trackers. This virtual environment can include land, water, target objects, etc., in order to simulate the real world.

[0122] Data generation module (i.e., simulated photoelectric image generation module): simulates and generates image data collected by optical sensors in a virtual environment.

[0123] Noise and interference simulation module: simulates various noises and interferences that optical sensors may be subject to in a virtual environment, such as image noise, atmospheric turbulence, etc., so that the optoelectronic tracker can be tested and evaluated in a more complex and realistic environment.

[0124] Performance evaluation module (i.e., photoelectric tracker performance evaluation and optimization module): responsible for analyzing simulation results and optimizing the parameters and algorithms of the photoelectric tracker to improve its performance. Through continuous evaluation and optimization, the performance of the photoelectric tracker in the virtual environment can be made closer to the actual application requirements.

[0125] Virtual data transmission and interface module: responsible for simulating the data transmission and interface between the optoelectronic tracker and the unmanned boat in a virtual environment. It ensures that the virtualized optoelectronic tracker can interact with the unmanned boat, thereby achieving the control and target tracking tasks of the unmanned boat in a virtual environment.

[0126] See also Figure 4 The design of the payload access module is demonstrated. Among them, the main control module of the unmanned boat control system is the center of the control system. It receives mission requirements and environmental conditions, interacts with the payload access control module, and receives virtual image data and control instructions. The payload access control module is responsible for intelligently deciding whether to turn on the virtual optoelectronic tracker, generating payload on / off instructions according to mission requirements and environmental conditions, and communicating with the main control module of the unmanned boat control system. The data transmission unit adopts a high-speed data transmission protocol (such as Ethernet or USB 3.0) to ensure that the virtual optoelectronic image data can be transmitted to the image processing unit in a timely manner. The image processing unit receives the virtual image data, uses the image processing library or algorithm (such as OpenCV) to perform target tracking, recognition and other processing, and generates image processing results. The state monitoring unit: monitors the working status of the virtual optoelectronic tracker in real time, including whether the data transmission is normal, whether the image processing is stable, etc., to ensure the stability and reliability of the system. The control instruction generation module: generates corresponding control instructions according to the image processing results, such as steering, speed adjustment, target tracking, etc.

[0127] The design of the virtual photoelectric tracker payload access system enables the unmanned boat to acquire and process image data through virtualized optical sensors during mission execution, thereby assisting navigation and decision-making. Virtualization technology not only improves the flexibility and scalability of the system, but also reduces the cost and complexity of the system. This system has broad application prospects in the fields of marine exploration, maritime rescue, etc.

[0128] Please note that the technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above embodiments only express several implementation methods of the present application, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, several variations and improvements can be made, which all belong to the scope of protection of the present application. Therefore, the scope of protection of the patent in this application shall be based on the attached claims.

[0129] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A sensor virtualization method for an unmanned boat control system, characterized in that: The method comprises: Step S1: Establishing a sensor system model through mathematical modeling and simulation technology; Step S2: constructing a virtual environment for sensor testing and evaluation using computer graphics and virtual reality technology; Step S3: generating sensor data of the sensor by simulation in the virtual environment; Step S4: Generate various noises and interferences through simulation in a virtual environment; Step S5: Evaluate the performance of the sensor based on the simulation results of the sensor in the virtual environment.

2. The sensor virtualization method for an unmanned boat control system according to claim 1, characterized in that: In S1, the sensor system model is a sonar system model or an optoelectronic tracker model.

3. A sensor virtualization method for an unmanned boat control system according to claim 2, characterized in that: When the sensor system model is an optoelectronic tracker model, before step S2, the method further includes: determining parameters of the optical sensor according to specific application scenarios and mission requirements of the unmanned boat.

4. A sensor virtualization method for an unmanned boat control system according to claim 2, characterized in that: When the sensor system model is a sonar system model, the step S3 specifically comprises: simulating and generating a sonar signal emitted by a sonar sensor and simulating an echo signal after the sonar signal interacts with a target object in a virtual environment; Alternatively, when the sensor system model is an optoelectronic tracker model, step S3 specifically includes: simulating and generating image data collected by an optical sensor in a virtual environment.

5. A sensor virtualization method for an unmanned boat control system according to claim 4, characterized in that: It is characterized in that When the sensor system model is an optoelectronic tracker model, the step S3 further includes: connecting the image data collected by the optical sensor to the load access control module for processing.

6. A sensor virtualization method for an unmanned boat control system according to claim 5, characterized in that: When the unmanned boat performs a target tracking mission, the optical sensor in the optoelectronic tracker model is automatically turned on through the payload access control module.

7. A sensor virtualization system for unmanned boat control system, characterized in that: The system comprises: The model module is configured to establish a sensor system model through mathematical modeling and simulation techniques; A virtual environment modeling module, configured to construct a virtual environment for sensor testing and evaluation using computer graphics and virtual reality technology; The data generation module is configured to generate sensor data of the sensor through simulation in the virtual environment; The noise and interference simulation module is configured to generate various noises and interferences through simulation in a virtual environment; The performance evaluation module is configured to perform performance evaluation on the sensor based on simulation results of the sensor in a virtual environment.

8. The sensor virtualization system for unmanned boat control system according to claim 7, characterized in that: When the sensor system model is an optoelectronic tracker model, the system further includes: a parameter determination module configured to determine the parameters of the optical sensor according to the specific application scenario and mission requirements of the unmanned boat.

9. The sensor virtualization system for unmanned boat control system according to claim 7, characterized in that: The system also includes a payload access control module, which is configured to automatically turn on the optical sensor in the optoelectronic tracker model if the unmanned boat performs a target tracking mission; and automatically turn off the optical sensor in the virtual optoelectronic tracker model if the unmanned boat performs a cruising mission or an obstacle avoidance mission.

10. The sensor virtualization system for unmanned boat control system according to claim 7, characterized in that: The system also includes a virtual data transmission and interface module, which is configured to connect the image data collected by the optical sensor to the load access control module for processing.

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