AUV cluster simulation method based on virtual-real combination

Abstract

The invention discloses an AUV cluster simulation method based on virtuality and reality combination. The method comprises the following steps: constructing a virtual scene of an AUV cluster test, wherein the virtual scene of the AUV cluster test comprises submarine topography, a plurality of target AUV 3D models, a water surface environment and an underwater environment; by adopting an AUV six-degree-of-freedom model consistency strategy, carrying out accurate modeling on physical characteristics, dynamic behaviors and a control system of each target AUV 3D model to obtain a plurality of AUV models, enabling each AUV model to be consistent with a dynamic model of a real AUV, and obtaining each virtual AUV; and enabling the clock of each virtual AUV to be consistent with the clock of the real AUV by adopting a timer. According to the invention, the technical problems of high cost and long period of formation experiment through a pure physical AUV and low accuracy and poor reliability of formation experiment through a pure virtual AUV in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous underwater vehicle clusters, and in particular to an AUV cluster simulation method based on the combination of virtual and real. Background Art

[0002] An autonomous underwater vehicle (AUV) cluster is a system consisting of multiple AUVs working together to perform specific tasks. This cluster technology enables AUVs to complete various tasks in complex marine environments more efficiently and flexibly, such as environmental monitoring, ocean exploration, and underwater search. The advantage of an AUV cluster is that it can achieve higher operational efficiency through division of labor, collaboration, and task sharing, thereby reducing the time and cost of task execution. The existing AUV cluster testing methods include pure physical experiments and pure simulation experiments.

[0003] The advantage of pure physical experiments is that they are carried out in a real ocean environment, and all test results are derived from real operating conditions, which makes the experimental data more credible. At the same time, physical experiments can directly observe the collaborative working effect between multiple AUVs, and can directly observe the system's ability to respond to sudden environmental changes, and more comprehensively evaluate the adaptability and reliability of AUVs. However, physical experiments consume a lot of money and time, especially in large-scale cluster tests, the cost pressure is significant. In addition, the cycle of physical experiments is long, and the process is easily affected by factors such as environmental conditions and equipment failures, which is prone to instability and unforeseen problems, thus affecting the progress and results of the experiment.

[0004] In contrast, pure simulation tests have obvious advantages in terms of economy and efficiency. Simulation tests can significantly reduce experimental costs and time through computer simulation. Researchers can quickly adjust simulation parameters and scenarios without actual equipment to conduct tests in a variety of scenarios and quickly verify various assumptions and strategies. This flexibility enables simulation to provide a lot of feedback in the early design stage. However, simulation models usually need to simplify complex underwater environments and may not be able to fully capture all physical phenomena and environmental variables, which will affect the accuracy of test results. In addition, although simulation can provide useful data, it cannot completely replace physical testing. New algorithms and strategies perform well in simulation, but may not be effective in actual applications. Especially when evaluating equipment performance and responding to emergencies, simulation may lead to overly optimistic results. Summary of the invention

[0005] The embodiment of the present invention provides an AUV cluster simulation method based on the combination of virtual and real, so as to at least solve the technical problems in the prior art of high cost and long period of formation experiments using pure physical AUVs, and low accuracy and poor reliability of formation experiments using pure virtual AUVs.

[0006] According to one aspect of an embodiment of the present invention, a method for simulating an AUV cluster based on virtual-real integration is provided. The method may include: constructing a virtual scene for AUV cluster testing, the virtual scene for AUV cluster testing including: seabed terrain, several target AUV 3D models, surface environment and underwater environment; using an AUV six-degree-of-freedom model consistency strategy, for each target AUV The physical characteristics, dynamic behaviors and control systems of the 3D model are accurately modeled to obtain several AUV models, so that each AUV model is consistent with the dynamic model of the real AUV to obtain each virtual AUV; a timer is used to make the clock of each virtual AUV consistent with the clock of the real AUV; the navigation data of the real AUV is sent to the simulation system through the UDP network port communication protocol at a target frequency, and the simulation system receives the navigation data of the real AUV at the target frequency to drive each virtual AUV to travel, wherein the simulation system is a virtual and real AUV cluster simulation system; an expected straight path is set for each virtual AUV, and based on the line of sight guidance method, the expected heading angle of each virtual AUV from the current position to its expected straight path is determined; based on the expected heading angle of each virtual AUV, each virtual AUV is controlled to gradually change its heading and enter its expected straight path; when each virtual AUV moves stably according to its expected straight path, a position loop controller and a speed loop controller are introduced to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV; based on the longitudinal distance between each virtual AUV, the virtual AUV cluster is driven safely.

[0007] Optionally, the construction of a virtual scene for the AUV cluster test includes: using Unity3D's terrain tools, shaders, and texture tools to construct a seabed terrain; using 3ds Max professional modeling software to perform 3D modeling on the AUV to obtain an initial AUV 3D model, exporting the initial AUV 3D model to an FBX file format, and importing the FBX file into Unity3D software to obtain a target AUV 3D model; using Unity3D's water surface shader to construct a water surface environment; and using an underwater camera tool to construct an underwater environment.

[0008] Optionally, the method of setting an expected straight path for each virtual AUV and determining an expected heading angle of each virtual AUV from its current position to its expected straight path based on a line of sight guidance method includes: setting the expected straight path for each virtual AUV as the ground coordinate system axis, Axis and Axis vertical to the right; based on using the sight guide method The aiming point in front of the axis and the lateral tracking error of each virtual AUV are used to obtain the expected heading angle of each virtual AUV from its current position to its set expected straight path.

[0009] Optionally, the method based on using the sight guidance method The aiming point in front of the axis and the lateral tracking error of each virtual AUV are used to obtain the expression of the expected heading angle of each virtual AUV from its current position to its expected straight path:

[0010]

[0011] in, When using the sight guidance method Aim point in front of the axis, is the lateral tracking error of each virtual AUV, A desired heading angle is set for each virtual AUV from its current position to its desired straight-line path.

[0012] Optionally, after each virtual AUV stably moves according to its expected straight path, a position loop controller and a speed loop controller are introduced to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV, including: inputting the expected position and actual position of each virtual AUV into the position loop controller, and outputting the expected speed of each virtual AUV; inputting the expected speed and actual speed of each virtual AUV into the speed loop controller, and outputting the thrust of each virtual AUV; and controlling the longitudinal distance between each virtual AUV based on the thrust of each virtual AUV.

[0013] Beneficial effects of the present invention: 1. Reduce the cost and risk of physical cluster testing Traditional physical experiments not only require a large amount of hardware resources and test platforms, but also have the uncontrollability of the marine environment, which affects the progress of the experiment and the data results. This method uses a combination of virtual and real modules to test the control algorithm in a digital environment, reducing the dependence on the physical platform. In this process, researchers can simulate a variety of environmental factors to accelerate the iterative optimization of the algorithm. At the same time, the actual AUV cluster test can be carried out after the algorithm is verified in virtual simulation, effectively reducing the cost and time consumption of actual experiments.

[0014] 2. Make up for the lack of real feedback in virtual simulation Although virtual simulation can provide a large amount of data in a short period of time, the simulation capability is limited by the model accuracy and computing power. This method combines virtual simulation with physical testing, which can use the virtual environment to quickly debug the algorithm in the early stage, and further obtain real physical feedback in the physical testing stage to further verify the practicality and robustness of the algorithm; it can not only identify unpredictable errors in virtual simulation, but also optimize the accuracy of the simulation model through field experimental data.

[0015] 3. Accelerate algorithm iteration and optimization Pure physical experiments have a long cycle and high cost. After the algorithm is updated, it needs to be redeployed and tested, and the experimental efficiency is low. Virtual simulation can quickly verify large-scale control strategies and shorten the algorithm iteration cycle. The system designed by this method can accelerate algorithm development through virtual simulation in the early stage, and then perform final verification and tuning in the physical experiment stage to ensure that the algorithm has high real-world adaptability and solution feasibility; through this rapid iteration, not only the development efficiency of the control strategy is improved, but also the reliability and stability of the system are ensured.

[0016] 4. Solve the dilemma of large-scale formations caused by insufficient physical resources This method transmits the navigation data of real AUVs to virtual AUVs in the simulation system in real time, and uses real data to drive the simulated AUVs to perform cluster formation. When large-scale cluster formation verification is required, but it is impossible due to insufficient number of real AUVs, environmental restrictions and other factors, this method uses the AUVs in cluster formation with real data to enable the remaining AUVs to perform large-scale formation verification with a cluster control strategy consistent with the real AUVs. This achieves the effect of "complementing the real with the virtual", conducts preliminary verification of the project, and effectively reduces the experimental cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 is a flow chart of an AUV cluster simulation method based on virtual-real combination according to an embodiment of the present invention; Figure 2 is a flowchart of a virtual AUV formation control flow according to an embodiment of the present invention; Figure 3 is a schematic diagram of a virtual scene for an AUV cluster test according to an embodiment of the present invention; Figure 4 is a schematic diagram of an AUV formation process of an AUV cluster formation simulation system according to an embodiment of the present invention; Figure 5A schematic diagram of the trajectory of a virtual-real combined formation of multiple AUVs in a virtual scene of an AUV cluster test according to an embodiment of the present invention; Figure 6 Schematic diagram of the formation effect of virtual AUV No. 4 according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] Example 1 According to an embodiment of the present invention, a method for simulating an AUV cluster based on a combination of virtual and real is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0021] Figure 1 is a flow chart of an AUV cluster simulation method based on virtual-real combination according to an embodiment of the present invention, such as Figure 1 As shown, the method may include the following steps: Step S101, constructing a virtual scene for AUV cluster testing, wherein the virtual scene for AUV cluster testing includes: seabed terrain, several target AUV 3D models, a water surface environment, and an underwater environment.

[0022] In the technical solution provided in the above step S101 of the present invention, the seabed topography, several target AUV 3D models, the water surface environment and the underwater environment are constructed.

[0023] Step S102, using the AUV six-degree-of-freedom model consistency strategy, accurately modeling the physical characteristics, dynamic behavior and control system of each target AUV 3D model, obtaining several AUV models, making each AUV model consistent with the dynamic model of the real AUV, and obtaining each virtual AUV.

[0024] In the technical solution provided in the above step S102 of the present invention, the AUV six-degree-of-freedom model consistency strategy is adopted to accurately model the physical characteristics, dynamic behavior and control system of each target AUV 3D model to obtain several AUV models, so that the AUV six-degree-of-freedom model of each AUV model is consistent with the dynamic model of the real AUV to obtain each virtual AUV.

[0025] Step S103: using a timer to make the clock of each virtual AUV consistent with the clock of the real AUV.

[0026] In the technical solution provided in the above step S103 of the present invention, a timer is used to achieve clock consistency to ensure that a clock synchronization event is triggered once within each fixed time interval; for the time advancement of the simulation system, a strategy of synchronization with the real time is adopted; that is, whenever the timer is triggered, the simulation system advances one step, and the simulation time advances a fixed time step to ensure that the time of the simulation system is consistent with the real time, and the status update of the simulation environment and the actual hardware system is triggered at the same time point, the timer frequency is set to 10 Hz, the simulation step is 0.1s, and the data recording frequency of the real AUV and the virtual AUV is also 10 Hz.

[0027] Step S104, the navigation data of the real AUV is sent to the simulation system at the target frequency through the UDP network port communication protocol, and the simulation system receives the navigation data of the real AUV at the target frequency and drives each virtual AUV to travel, wherein the simulation system is a virtual and real AUV cluster simulation system.

[0028] In the technical solution provided in the above step S104 of the present invention, an independent network port communication thread is opened, and the real navigation status information such as the latitude and longitude, attitude angle, speed, and rudder angle of the real AUV is sent to the simulation system at a frequency of 10 Hz. At the same time, in the simulation system, the data is also received and processed at a frequency of 10 Hz to ensure that the system effectively calculates the cost while meeting the real-time requirements. Based on the requirements of low latency and convenient maintenance of this method, the system adopts the UDP network port communication protocol for data transmission.

[0029] Step S105, setting an expected straight path for each virtual AUV, and determining an expected heading angle of each virtual AUV from its current position to its expected straight path based on a line of sight guidance method.

[0030] In the technical solution provided in the above step S105 of the present invention, an expected straight path is set for each virtual AUV, and an expected heading angle of each virtual AUV from the current position to its expected straight path is obtained according to the line of sight guidance method.

[0031] Step S106, based on the desired heading angle of each virtual AUV, control each virtual AUV to gradually change its heading and enter its desired straight path.

[0032] In the technical solution provided in the above step S106 of the present invention, based on the desired heading angle of each virtual AUV, each virtual AUV is controlled to gradually change its heading and enter its desired straight path.

[0033] Step S107, after each virtual AUV stably moves according to its expected straight path, a position loop controller and a speed loop controller are introduced to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV.

[0034] In the technical solution provided in the above step S107 of the present invention, Figure 2 It is a flow chart of the control flow of the virtual AUV formation according to an embodiment of the present invention, which introduces a position loop controller and a speed loop controller to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV.

[0035] Step S108: Based on the longitudinal distance between each virtual AUV, the virtual AUV cluster is made to travel safely.

[0036] In the technical solution provided in the above step S108 of the present invention, the virtual AUV cluster is made to travel safely according to the longitudinal distance between each virtual AUV.

[0037] The above method of this embodiment is further introduced below.

[0038] As an optional implementation method, step S101, the construction of a virtual scene for the AUV cluster test includes: using Unity3D's terrain tools, shaders, and texture tools to construct a seabed terrain; using 3ds Max professional modeling software to perform 3D modeling on the AUV to obtain an initial AUV 3D model, exporting the initial AUV 3D model to an FBX file format, and importing the FBX file into Unity3D software to obtain a target AUV 3D model; using Unity3D's water surface shader to construct a water surface environment; and using an underwater camera tool to construct an underwater environment.

[0039] In this embodiment, Figure 3: is a schematic diagram of a virtual scene for an AUV cluster test according to an embodiment of the present invention. The terrain tool provided by Unity3D is used to design submarine terrains such as submarine mountains, gullies, and plains. At the same time, texture tools and shaders are used to add appropriate textures to the terrain, such as submarine beaches, seaweed, and corals. The design takes into account the need to ensure the continuity of the terrain, and uses Gaussian fitting to generate smooth terrain. The grayscale value of the target point is obtained according to the two-dimensional Gaussian surface function:

[0040] in, is the gray value of the target point, is the target point, T is the gray value of the center point, σ is the mean square error of the Gaussian function, Is the center point position.

[0041] By inserting target points around the center point, the entire seabed topography is smoothed, and the final seabed topography map is as follows: Figure 3 As shown in (a), the center point refers to the convex point of the terrain. In order to make the terrain modeling smoother, a surface function is added to allow the points near the center point to transition smoothly without abrupt changes.

[0042] Use 3ds Max professional modeling software to build the 3D model of the AUV. During the modeling process, the appearance, structure, and function of the AUV should be considered to ensure its adaptability and performance in the underwater environment. After the modeling is completed, the initial AUV 3D model is exported to the FBX file format, and then the FBX file is imported into the Unity3D software for further processing and application. During the import process, it is necessary to ensure that the model's materials, textures, animations, and other elements can be correctly recognized and loaded by Unity3D. The target AUV3D model is as follows: Figure 3 (b) When constructing a water surface environment, select an appropriate water surface shader and apply it to the water surface model. Adjust the material parameters to achieve the desired color, transparency, and reflection intensity, and write a script to achieve the dynamic effect of water flow. When constructing an underwater environment, use the underwater camera tool to adjust its parameters to achieve underwater properties such as atomization, light attenuation, and color transformation. The underwater effect diagram in the virtual scene is shown in Figure 3 (c) shows the water surface effect in the virtual scene. Figure 3 (d) shown.

[0043] As an optional embodiment, step S105, setting a desired straight path for each virtual AUV, and determining a desired heading angle of each virtual AUV from its current position to its desired straight path based on the line of sight guidance method, includes: each virtual AUV sets the desired straight path as the ground coordinate system axis, Axis and Axis vertical to the right; based on using the sight guide method The aiming point in front of the axis and the lateral tracking error of each virtual AUV are used to obtain the expected heading angle of each virtual AUV from its current position to its set expected straight path.

[0044] As an optional embodiment, the method based on using the sight guidance method The aiming point in front of the axis and the lateral tracking error of each virtual AUV are used to obtain the expression of the expected heading angle of each virtual AUV from its current position to its expected straight path:

[0045]

[0046] in, When using the sight guidance method Aim point in front of the axis, is the lateral tracking error of each virtual AUV, A desired heading angle is set for each virtual AUV from its current position to its desired straight-line path.

[0047] In this embodiment, when using the sight guidance method The aiming point in front of the axis and the lateral tracking error of each virtual AUV are used to obtain the expected heading angle of each virtual AUV from its current position to its set expected straight path.

[0048] As an optional implementation method, step S107, after each virtual AUV stably moves according to its expected straight path, a position loop controller and a speed loop controller are introduced to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV, including: inputting the expected position and actual position of each virtual AUV into the position loop controller, and outputting the expected speed of each virtual AUV; inputting the expected speed and actual speed of each virtual AUV into the speed loop controller, and outputting the thrust of each virtual AUV; and controlling the longitudinal distance between each virtual AUV based on the thrust of each virtual AUV.

[0049] In this embodiment, when each virtual AUV performs the straight-line tracking task and moves along its own desired straight path, the lateral distance is the distance between each straight path, and the formation control only needs to consider the adjustment of the longitudinal distance; the flow chart of the formation control is as follows: Figure 2As shown; the input of the position loop controller is associated with the longitudinal distance of the AUV, and the difference between the expected position and the actual position of each virtual AUV is input into the position loop controller, and the position loop controller outputs the expected speed of each virtual AUV according to the longitudinal distance difference; the input of the speed loop controller is associated with the forward speed of the AUV, and the difference between the expected speed and the actual speed of each virtual AUV is input into the speed loop controller, and the speed loop controller adjusts the thrust of each virtual mechanism according to the difference, thereby realizing the formation control of the AUV cluster.

[0050] Experimental part: The formation of virtual AUVs and real AUVs is realized. The distance of the formation is set to 30 meters. The real AUV status data is transmitted to the simulation system at a frequency of 10Hz to achieve real-time data synchronization. The navigation speed of the virtual AUV is set to 2m / s to match the navigation speed of the real AUV to maintain the stability of the formation. The number of virtual AUVs is set to seven, the simulation step is set to 0.1, and the recording frequency of navigation data is set to 10Hz; Figure 4 is a schematic diagram of an AUV formation process of an AUV cluster formation simulation system according to an embodiment of the present invention, Figure 4 (a) is the preparation stage, Figure 4 (b) is a side-by-side formation. Figure 4 (c) Triangle formation, Figure 4 (d) Line formation. Figure 5 A schematic diagram of the trajectory of a virtual-real combined formation of multiple AUVs in a virtual scene of an AUV cluster test according to an embodiment of the present invention; Figure 5 In the figure, the simulated AUV is a virtual AUV, and the real AUV (also a virtual AUV) is the AUV corresponding to the real physical AUV that is simulated.

[0051] Select any virtual AUV to verify the accuracy of the virtual-real combined formation. Take virtual AUV No. 4 as an example. Figure 6 A schematic diagram of the formation effect of virtual AUV No. 4 according to an embodiment of the present invention, Figure 6 The simulated AUV in the image is the virtual AUV. Figure 6 (a) is the change of actual distance. The results show that the actual distance in each formation can approach the expected distance, and the error is less than 1%. Figure 6 (b) is the change of attitude angle during the formation process. Figure 6 (c) is the speed and thrust curve of the AUV during the formation process.

[0052] In an embodiment of the present invention, a virtual scene for AUV cluster testing is constructed, and the virtual scene for AUV cluster testing includes: seabed terrain, several target AUV 3D models, water surface environment and underwater environment; the AUV six-degree-of-freedom model consistency strategy is adopted to accurately model the physical characteristics, dynamic behavior and control system of each target AUV 3D model to obtain several AUV models, so that each AUV model is consistent with the dynamic model of the real AUV to obtain each virtual AUV; a timer is used to make the clock of each virtual AUV consistent with the clock of the real AUV; the navigation data of the real AUV is sent to the simulation system through the UDP network port communication protocol at the target frequency, and the simulation system receives the navigation data of the real AUV at the target frequency, and drives each virtual AUV to travel, wherein the simulation system is a virtual-real AUV cluster simulation system; an expected straight path is set for each virtual AUV, and based on the line of sight guidance method, the expected heading angle of each virtual AUV from the current position to its expected straight path is determined; Based on the expected heading angle of each virtual AUV, each virtual AUV is controlled to gradually change its heading and enter its expected straight path; when each virtual AUV moves stably according to its expected straight path, a position loop controller and a speed loop controller are introduced to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV; based on the longitudinal distance between each virtual AUV, the virtual AUV cluster is made to travel safely, which solves the technical problems of high cost and long period of formation experiments using pure physical AUVs and low accuracy and poor reliability of formation experiments using pure virtual AUVs in the prior art, and achieves the technical effect of forming a formation by combining virtual and real AUVs, reducing the test cost, shortening the experiment period, and improving the accuracy and reliability of the experiment.

[0053] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0054] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0055] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0056] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0057] In addition, each functional unit in each embodiment of the present invention may be integrated into a first processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0058] The above are only 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 the scope of protection of the present invention.

Claims

1. A method for simulating AUV clusters based on the combination of virtual and real, characterized in that: include: Construct a virtual scene for AUV cluster testing, which includes: seabed terrain, several target AUV 3D models, surface environment and underwater environment; Adopting the AUV six-degree-of-freedom model consistency strategy, the physical characteristics, dynamic behavior and control system of each target AUV 3D model are accurately modeled to obtain several AUV models, and each AUV model is made consistent with the dynamic model of the real AUV to obtain each virtual AUV; A timer is used to make the clock of each virtual AUV consistent with the clock of the real AUV; The navigation data of the real AUV is sent to the simulation system at the target frequency through the UDP network port communication protocol. The simulation system receives the navigation data of the real AUV at the target frequency and drives each virtual AUV to travel. The simulation system is a virtual and real AUV cluster simulation system. Set a desired straight path for each virtual AUV, and determine the desired heading angle of each virtual AUV from its current position to its desired straight path based on the line of sight guidance method; Based on the desired heading angle of each virtual AUV, each virtual AUV is controlled to gradually change its heading and enter its desired straight path; When each virtual AUV moves stably according to its expected straight path, a position loop controller and a speed loop controller are introduced to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV; Based on the longitudinal distance between each virtual AUV, the virtual AUV cluster can travel safely.

2. The method according to claim 1, characterized in that The virtual scene of AUV cluster testing is constructed, including: Use Unity3D's terrain tools, shaders, and texture tools to build seafloor terrain; Use 3ds Max professional modeling software to model the AUV in 3D to obtain an initial AUV 3D model, export the initial AUV 3D model into an FBX file format, and import the FBX file into Unity3D software to obtain a target AUV 3D model; Use Unity3D water surface shader to build water surface environment; Use the underwater camera tool to build underwater environments.

3. The method according to claim 1, characterized in that The method of setting a desired straight line path for each virtual AUV and determining a desired heading angle of each virtual AUV from a current position to its desired straight line path based on a line of sight guidance method includes: Each virtual AUV sets the expected straight line path as the ground coordinate system axis, Axis and The axis is vertical to the right; When using the sight guidance method The aiming point in front of the axis and the lateral tracking error of each virtual AUV are used to obtain the expected heading angle of each virtual AUV from its current position to its set expected straight path.

4. The method according to claim 3, characterized in that When using the sight guidance method The aiming point in front of the axis and the lateral tracking error of each virtual AUV are used to obtain the expression of the expected heading angle of each virtual AUV from its current position to its expected straight path: in, When using the sight guidance method Aim point in front of the axis, is the lateral tracking error of each virtual AUV, A desired heading angle is set for each virtual AUV from its current position to its desired straight-line path.

5. The method according to claim 1, characterized in that After each virtual AUV stably moves according to its expected straight path, a position loop controller and a speed loop controller are introduced to adjust the speed of each virtual AUV to control the longitudinal distance between each virtual AUV, including: The desired position and actual position of each virtual AUV are input into the position loop controller, and the desired speed of each virtual AUV is output; The desired speed and actual speed of each virtual AUV are input into the speed loop controller, and the thrust of each virtual AUV is output; Based on the thrust of each virtual AUV, the longitudinal distance between each virtual AUV is controlled.

6. A computer system, characterized in that include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method of claim 1.

7. A computer-readable storage medium, characterized in that Computer executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

8. A computer program product, characterized in that The invention comprises computer executable instructions, which are used to implement the method of claim 1 when being executed.

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