Dynamic positioning platform simulation device and method based on digital twinning

Abstract

The invention provides a dynamic positioning platform simulation device and method based on digital twinning, and belongs to the technical field of ocean engineering tests.The method comprises the steps that motion state data and positioning data of a physical platform are obtained, and the physical platform is provided with a propelling system and a sensor module; bidirectional data interaction between the physical platform and the virtual platform is realized through a communication network; constructing a digital model of the physical platform according to the motion state data and the positioning data; performing real-time rendering and dynamic simulation on the digital model through a virtual engine to generate a virtual platform; and obtaining a target position parameter through a human-computer interaction interface and outputting a real-time state of the virtual platform. According to the invention, high-precision synchronous interaction between the physical platform and the virtual environment is realized, and high precision and real-time performance are ensured.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of ocean engineering testing, and particularly relates to a dynamic positioning platform simulation device and method based on digital twinning. BACKGROUND

[0002] In ocean engineering testing, there are great challenges in the synchronous interaction between the physical platform and the virtual environment, and the traditional method is difficult to realize high-precision and real-time virtual-real synchronization, which limits the effectiveness and reliability of the test. The dynamic characteristics of the physical platform in the complex water environment are difficult to accurately capture, resulting in deviations between the virtual model and the actual situation. At the same time, large-scale physical experiments are costly and difficult to cover comprehensive test scenarios. Although the virtual environment is flexible, it lacks real physical characteristics and is difficult to simulate hydrodynamic effects. In addition, the accurate positioning and control of the physical platform are difficult under wave interference, affecting the synchronization accuracy. In virtual rendering, it is also a big problem to ensure real-time performance while maintaining high detail. The dynamic changes of the hydrodynamic environment and the synchronous updating of the virtual scene are also very challenging. The human-computer interaction interface needs to integrate multi-source data and display the platform state in real time, but data transmission and processing delays may affect the operation response. It is also a technical difficulty to be overcome how the dynamic effects generated by the particle system are consistent with the actual hydrodynamics. Therefore, how to realize seamless integration and synchronous interaction between the ocean engineering physical platform and the virtual environment while ensuring high precision and real-time performance is a problem to be solved. SUMMARY

[0003] The purpose of the present application is to provide a dynamic positioning platform simulation device and method based on digital twinning, which realizes high-precision synchronous interaction between the dynamic positioning physical platform and the virtual environment.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] A dynamic positioning platform simulation device based on digital twinning, comprising: a dynamic positioning physical platform, a main control board is installed on the dynamic positioning physical platform, the main control board is connected with N voltage stabilizing modules and a signal acquisition unit respectively, the signal acquisition unit is connected with a positioning device, the positioning device comprises a heading sensor and a roll sensor, the heading sensor and the roll sensor comprise an integrated inertial measurement unit respectively, the voltage stabilizing modules are connected with an electronic regulator and a power supply respectively, the electronic regulator is connected with a set of six-axis brushless motor vector propulsion system, and the six-axis brushless motor vector propulsion system comprises a brushless motor.

[0006] Further, the main control board comprises a wireless communication module, which realizes data interaction with an upper computer through a communication network.

[0007] The present application also comprises:

[0008] A simulation method of a digital-twin-based dynamic positioning platform simulation device as described above, the method comprising:

[0009] Step 1: obtaining motion state data and positioning data of a dynamic positioning physical platform, the dynamic positioning physical platform being configured with a propulsion system and a sensor module;

[0010] Step 2: achieving bidirectional data interaction between the dynamic positioning physical platform and a virtual platform through a communication network;

[0011] Step 3: constructing a digital model of the dynamic positioning physical platform according to the motion state data and the positioning data;

[0012] Step 4: generating a virtual platform by real-time rendering and dynamic simulation of the digital model through a virtual engine;

[0013] Step 5: obtaining target position parameters through a human-computer interaction interface and outputting real-time state of the virtual platform.

[0014] Further, the motion state data and the positioning data of the dynamic positioning physical platform obtained in the step 1 comprise:

[0015] obtaining propulsion force data through a six-axis brushless motor vector propulsion system configured at the bottom of the dynamic positioning physical platform;

[0016] obtaining heading data and roll data through an inertial measurement unit integrated in the dynamic positioning physical platform;

[0017] obtaining real-time coordinate data of the dynamic positioning physical platform through a positioning device.

[0018] Further, the bidirectional data interaction between the dynamic positioning physical platform and the virtual platform through a communication network in the step 2 comprises:

[0019] constructing a communication network through a wireless communication module;

[0020] transmitting the motion state data and the positioning data to an upper computer through the communication network;

[0021] transmitting target control instructions to the dynamic positioning physical platform through the upper computer.

[0022] Further, the digital model of the dynamic positioning physical platform constructed according to the motion state data and the positioning data in the step 3 comprises:

[0023] generating digital models of each part of the dynamic positioning physical platform through a three-dimensional modeling software;

[0024] adding appearance attributes to the digital model through a material system;

[0025] The digital model is converted into a static mesh and dynamic components through an Unreal Engine.

[0026] Furthermore, in step 4, the real-time rendering and dynamic simulation of the digital model by a virtual engine include:

[0027] geometrically reconstructing the digital model using virtual geometry technology;

[0028] Simulate dynamic light source effects through global illumination technology;

[0029] The motion state data of the digital model is refreshed by a timer.

[0030] Furthermore, in step 4, the real-time rendering and dynamic simulation of the digital model by a virtual engine include:

[0031] Generate the experimental environment boundary through terrain editing tools;

[0032] Simulate water environment through hydrodynamic system;

[0033] The interaction effect between the digital model and the water body is generated through a collision detection component.

[0034] Furthermore, in step 5, obtaining target position parameters and outputting the real-time status of the virtual platform through the human-computer interaction interface includes:

[0035] Obtain the target two-axis coordinates and heading angle through the input interface;

[0036] Displaying the current coordinates and heading information of the virtual platform through an output interface;

[0037] The dynamic movement of the virtual platform is synchronized with the dynamic positioning physical platform through data driving.

[0038] The beneficial effects of the present invention are:

[0039] The present invention collects the motion data of the physical platform through a six-axis brushless motor vector propulsion system and an inertial measurement unit, and uses a wireless communication module to establish a WIFI-TCP communication network to realize data interaction with the host computer. The positioning device provides centimeter-level position closed-loop control. The present invention imports the 3D model of the physical platform into the Unreal Engine and uses Nanite technology to achieve high-precision rendering. The hydrodynamic system simulates the experimental pool environment and dynamically adjusts according to the data of the wave-making device. The human-computer interaction interface displays real-time position and heading information. The virtual platform and the physical platform are driven to move synchronously by refreshing data through a timer. The Niagara particle system generates dynamic water splash effects based on collision detection, realizing high-precision synchronous interaction between the physical platform and the virtual environment, ensuring high precision and real-time performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Attachment Figure 1 It is a structural schematic diagram of the present invention.

[0041] Attachment Figure 2 It is a flow chart of the simulation method of the present invention.

[0042] In the attached figure: 1. Main control board, 2. Electronic regulator, 3. Voltage stabilization module, 4. Power supply, 5. Positioning device, 6. Signal acquisition unit, 7. Six-axis brushless motor vector propulsion system, 8. Dynamic positioning physical platform. DETAILED DESCRIPTION

[0043] The present invention will be further described below with reference to the accompanying drawings.

[0044] Example 1:

[0045] The present invention provides a dynamic positioning platform simulation device based on digital twins, as shown in the attached Figure 1 As shown, it includes: a dynamic positioning physical platform 8, on which a main control board 1 is installed. The main control board 1 is respectively connected to N voltage stabilizing modules 3 and a signal acquisition unit 6. The signal acquisition unit 6 is connected to a positioning device 5. The positioning device 5 includes a heading sensor and a roll sensor. The heading sensor and the roll sensor each include an integrated inertial measurement unit. The voltage stabilizing module 3 is respectively connected to an electronic regulator 2 and a power supply 4. The electronic regulator 2 is connected to a group of six-axis brushless motor vector propulsion systems 7. The six-axis brushless motor vector propulsion system 7 includes a brushless motor.

[0046] The main control board 1 includes a wireless communication module, which realizes data interaction with the host computer through the communication network.

[0047] Specifically, the main control board 1 adopts a GD32 main control board, and the GD32 main control board includes a GD32F303RCT6 microcontroller.

[0048] The electronic regulator 2 adopts an SEAKING 40A electronic speed regulator.

[0049] The positioning device 5 adopts a UWB positioning device.

[0050] The wireless communication module adopts an ESP8266 wireless communication module.

[0051] The embodiment also includes:

[0052] A simulation method of the digital-twin-based dynamic positioning platform simulation device, as shown in the accompanying drawings, Figure 2 The method includes:

[0053] Step 1: Obtain the motion state data and positioning data of the dynamic positioning physical platform, wherein the dynamic positioning physical platform is configured with a propulsion system and a sensor module.

[0054] Step 2: Realize bidirectional data interaction between the dynamic positioning physical platform and the virtual platform through a communication network.

[0055] Step 3: Construct a digital model of the dynamic positioning physical platform according to the motion state data and the positioning data.

[0056] Step 4: Real-time render and dynamically simulate the digital model through a virtual engine to generate a virtual platform.

[0057] Step 5: Obtain target position parameters through a human-computer interaction interface and output the real-time state of the virtual platform.

[0058] In the step 1, the motion state data and the positioning data of the dynamic positioning physical platform are obtained, including:

[0059] Obtain propulsion force data through a six-axis brushless motor vector propulsion system configured at the bottom of the dynamic positioning physical platform.

[0060] Obtain heading data and roll data through an inertial measurement unit integrated in the dynamic positioning physical platform.

[0061] Obtain real-time coordinate data of the dynamic positioning physical platform through a positioning device.

[0062] In the step 2, the bidirectional data interaction between the dynamic positioning physical platform and the virtual platform through the communication network includes:

[0063] Construct a communication network through a wireless communication module.

[0064] Transmit the motion state data and the positioning data to an upper computer through the communication network.

[0065] transmitting, by the host computer, a target control instruction to the dynamic positioning physical platform.

[0066] In the embodiment, the step 3 of constructing the digital model of the dynamic positioning physical platform according to the motion state data and the positioning data comprises:

[0067] generating, by a three-dimensional modeling software, a digital model of each part of the dynamic positioning physical platform;

[0068] adding, by a material system, appearance attributes to the digital model;

[0069] converting, by a virtual engine, the digital model into a static mesh body and a dynamic component.

[0070] In the embodiment, the step 4 of performing real-time rendering and dynamic simulation on the digital model by the virtual engine comprises:

[0071] performing geometric reconstruction on the digital model by a virtualized geometry technology;

[0072] simulating a dynamic light source effect by a global lighting technology;

[0073] refreshing, by a timer, the motion state data of the digital model.

[0074] In the embodiment, the step 4 of performing real-time rendering and dynamic simulation on the digital model by the virtual engine can further comprise the following steps:

[0075] generating, by a terrain editing tool, a boundary of an experimental environment;

[0076] simulating, by a hydrodynamic system, a water body environment;

[0077] generating, by a collision detection component, an interaction effect between the digital model and the water body.

[0078] In the embodiment, the step 5 of acquiring, by a human-computer interaction interface, a target position parameter and outputting a real-time state of the virtual platform comprises:

[0079] acquiring, by an input interface, a target two-axis coordinate and a heading angle;

[0080] displaying, by an output interface, current coordinate and heading information of the virtual platform;

[0081] realizing, by data driving, dynamic motion of the virtual platform to be synchronized with the dynamic positioning physical platform.

[0082] Embodiment 2

[0083] The dynamic positioning platform simulation device based on digital twinning according to embodiment 1, as shown in FIG. 2, comprises: Figure 2As shown, specifically includes the following steps:

[0084] S101, obtain the motion state data of the dynamic positioning physical platform, which is collected by the six-axis brushless motor vector propulsion system and the integrated inertial measurement unit configured at the bottom.

[0085] The real-time motion state data of the dynamic positioning physical platform is collected by the heading sensor and the roll sensor to obtain the original attitude information. The propulsion force data is obtained by the six-axis brushless motor vector propulsion system configured at the bottom to determine the motor operating state parameters. The acceleration and angular velocity data are collected by the integrated inertial measurement unit to obtain the dynamic motion information of the physical platform. According to the original attitude information, the propulsion force data and the dynamic motion information received by the signal acquisition unit, the bus signal is generated by encoding. The bus signal is transmitted to the GD32 main control board to process and generate the motion state data required by the control system. According to the GD32F303RCT6 microcontroller, the motion state data is parsed to output the corresponding control signal. The control signal is received by the SEAKING 40A electronic speed regulator to adjust the vector propulsion output of the brushless motor. The bus signal is received by the ship navigation attitude visual simulation system to correct the motion model parameters in the virtual platform. The corrected motion model parameters are loaded into the man-machine interaction module of the dynamic positioning virtual platform to update the real-time motion state visualization data.

[0086] Specifically, the heading sensor and the roll sensor collect the real-time motion state data of the dynamic positioning physical platform at a frequency of 100Hz to generate original attitude information containing heading angle, roll angle and other parameters. The six-axis brushless motor vector propulsion system configured at the bottom obtains motor speed and torque data through the Hall sensor, and determines the motor operating state parameters such as speed of 2000rpm and torque of 5Nm by combining PWM signal analysis. The integrated inertial measurement unit collects acceleration and angular velocity data at a sampling interval of 10ms, and obtains the three-axis acceleration of the physical platform of 0.5m / s 2, dynamic motion information with an angular velocity of 0.2 rad / s. The signal acquisition unit receives the original attitude information, propulsion force data and dynamic motion information, encodes them using the RS485 protocol, generates bus signals and transmits them to the GD32 main control board. The GD32F303RCT6 microcontroller parses the bus signals and processes the motion state data required by the control system using the PID control algorithm, and outputs a PWM control signal with a duty cycle of 75%. The SEAKING 40A electronic speed regulator receives the PWM control signal, adjusts the vector propulsion output of the brushless motor, and stabilizes the motor speed at the set value of 2000 rpm. The ship navigation attitude visual simulation system receives the bus signal, corrects the motion model parameters in the virtual platform through the kinematics model, such as correcting the heading angle to 45° and the roll angle to 3°. The human-computer interaction module of the dynamic positioning virtual platform loads the corrected motion model parameters, updates the real-time motion state visualization data through the rendering engine, and displays the motion trajectory and attitude change of the platform in the virtual environment.

[0087] S102, establish a WIFI-TCP communication network through the ESP8266 wireless communication module, which is used for bidirectional data interaction between the physical platform and the host computer.

[0088] S103, use the UWB positioning device to obtain real-time coordinate data of the physical platform, which is transmitted to the host computer through serial communication to realize centimeter-level position closed-loop control.

[0089] The real-time coordinate data of the physical platform is collected by the UWB positioning device to obtain high-precision position information. According to the collected real-time coordinate data, the position signal that can be processed is obtained by transmitting the data to the host computer through serial communication. The coordinate value with centimeter-level accuracy is determined by processing the position signal received by the host computer through the data analysis module. According to the analyzed coordinate value, the deviation adjustment amount of the physical platform is calculated through the position closed-loop control algorithm. The state information of the physical platform is received through the WIFI-TCP communication interface to judge the matching degree with the coordinate data. If the state information is consistent with the coordinate data, the adjustment parameters of the motion components are obtained through the control instruction generation module. The adjustment parameters are obtained through the data connection between the host computer and the dynamic positioning physical platform, and are transmitted to the ESP8266 chip. According to the transmitted adjustment parameters, the real-time dynamic adjustment of the physical entity is obtained through the motion component driving module of the physical platform. The adjusted state information of the physical platform is received by the visual positioning device to judge the closed-loop consistency with the UWB coordinate data.

[0090] Specifically, the real-time coordinate data of the physical platform is collected by the UWB positioning device, the TOF algorithm is used to calculate the signal transmission time difference, and the relative position relationship between the UWB tag and the base station is combined to obtain high-precision position information, with an accuracy of ±2 cm. According to the collected real-time coordinate data, the position signal is transmitted to the host computer through serial communication at a baud rate of 9600 bps, and the data is packaged using the RS232 protocol to obtain a processable position signal. The position signal received by the host computer is parsed by the data parsing module, the CRC check algorithm is used to ensure data integrity, and the coordinate value with centimeter-level accuracy is determined, with an error range of ±1 cm. According to the parsed coordinate value, the position closed-loop control algorithm is calculated, the PID control algorithm is combined with the error compensation mechanism, and the deviation adjustment amount of the physical platform is obtained, with an adjustment range of ±5 cm. The state information of the physical platform is received through the WIFI-TCP communication interface, the data exchange is performed using the TCP / IP protocol, the matching degree with the coordinate data is judged, and the matching error is less than ±0.5 cm. If the state information and the coordinate data are consistent, the control instruction generation module is processed, the fuzzy control algorithm is used to generate adjustment parameters, the adjustment parameters of the moving parts are obtained, and the parameter accuracy is ±1 cm. The adjustment parameters are obtained, the data connection between the host computer and the dynamic positioning physical platform is used, the WIFI-TCP protocol is used to transmit the data to the ESP8266 chip at a rate of 100 Mbps, and the real-time performance of data transmission is ensured. According to the transmitted adjustment parameters, the moving part driving module of the physical platform is executed, the PWM control technology is used to adjust the motor speed, the real-time dynamic adjustment of the physical entity is obtained, and the adjustment response time is less than 0.1 second. The adjusted state information of the physical platform is received by the visual positioning device, the image processing algorithm is used to analyze the target position, the closed-loop consistency with the UWB coordinate data is judged, and the error is controlled within ±1 cm.

[0091] S104, according to the structure parameters of the physical platform, a digital model is constructed by using three-dimensional software, and the digital model stores vertex data and geometric information through an OBJ file.

[0092] S105, the OBJ file is converted into a static mesh body and an Actor file in the Unreal Engine, and the files realize high-precision real-time rendering through Nanite technology.

[0093] S106, the water body environment of the experimental pool is simulated by a hydrodynamic system in the Unreal Engine, and the water body environment is dynamically adjusted according to the wind and wave generating device data.

[0094] The basic terrain grid data of the experimental pool is loaded through the water dynamics system in Unreal Engine, and the real-time wind and wave parameters transmitted by the wind and wave generating device are obtained. According to the loaded terrain grid data, the Radius parameter and the Falloff parameter are modified by using the terrain editor to determine the matching degree of the virtual terrain and the experimental pool environment. The virtual water environment is created by using the Water plug-in, the wind direction and wind speed information in the wind generating device data are obtained, and the initial value of the water wave direction is obtained. According to the wave height and frequency data transmitted by the wave generating device, the “Water Height” and “Wave Direction” node parameters in the Water plug-in are modified to determine the dynamic wave shape of the water body. The motion state data monitored by the heading sensor and the roll sensor of the physical platform are obtained, the bus signal is generated by using the signal acquisition unit coding, and the feedback information of the water body interacting with the platform is obtained. According to the data feedback by the bus signal, the Niagara particle system is used to simulate the water splash special effect at the collision detection position of the dynamic positioning virtual platform and the water body, and the details of the dynamic adjustment of the water body are determined. The material parameters of the virtual platform model are managed by using the Material node, the base color and roughness are modified, and the real-time change of the water body reflection and light effect is obtained. If the wind and wave generating device data is updated, the real-time state information thereof is received through the WIFI-TCP communication interface, and the parameter adjustment requirement of the water dynamics system is judged. According to the adjusted parameters, the virtual water environment is re-rendered by using the water dynamics system of Unreal Engine, and the simulation result consistent with the dynamic experimental pool is obtained.

[0095] Specifically, the base terrain mesh data of the experimental pool is loaded by the water dynamics system in Unreal Engine, for example, a terrain mesh with a resolution of 1024x1024 is loaded, real-time wind and wave parameters transmitted by the wind and wave generating device are obtained, the wind speed is 8 m / s, and the wave height is 0.5 m. According to the loaded terrain mesh data, the Radius parameter is modified to 50 and the Falloff parameter is modified to 0.8 by using the terrain editor to determine the matching degree of the virtual terrain and the experimental pool environment, and to ensure that the terrain height error is less than 0.1 m. A virtual water environment is created by using the Water plug-in, the wind direction in the wind generating device data is obtained as 45 degrees, the wind speed is 8 m / s, and the initial value of the water wave direction is obtained as 45 degrees. According to the wave height of 0.5 m and the frequency of 0.2 Hz transmitted by the wave generating device, the “Water Height” node parameter in the Water plug-in is modified to 0.5, and the “Wave Direction” node parameter is modified to 45, to determine the dynamic wave shape of the water body. The motion state data monitored by the heading sensor and the roll sensor of the physical platform is obtained, the heading angle is 30 degrees, and the roll angle is 5 degrees. Bus signals are generated by using the signal acquisition unit to code, and the sampling frequency is 100 Hz to obtain the feedback information of the water body and the platform interaction. According to the data feedback by the bus signals, the Niagara particle system is used to simulate the water splash special effect at the collision detection position of the dynamic positioning virtual platform and the water body, the particle number is 1000, and the particle velocity is 2 m / s to determine the details of the dynamic adjustment of the water body. The material parameters of the virtual platform model are managed by using the Material node, the base color is modified to dark gray, and the roughness is modified to 0.3 to obtain the real-time change of the water body reflection and light effect. If the wind and wave generating device data is updated, the wind speed is changed to 10 m / s, and the wave height is changed to 0.8 m, then the real-time state information is received by using the WIFI-TCP communication interface, and the parameter adjustment requirement of the water dynamics system is determined. According to the adjusted parameters, the virtual water environment is re-rendered by using the water dynamics system of Unreal Engine, the rendering resolution is 1920x1080, and the simulation result consistent with the dynamic experimental pool is obtained.

[0096] S107, a man-machine interaction interface is designed, the interface includes target coordinates input by an operator and real-time position and heading information of the physical platform.

[0097] S108, a timer is used to refresh data, the data drives translation matrix and rotation matrix to realize synchronization of the motion of the virtual platform and the physical platform.

[0098] S109, the motion state and coordinate data of the physical platform are received by using the upper computer, and the data is used to drive the virtual platform motion component to keep real-time consistency.

[0099] S1010, for the interaction between the virtual platform and the water environment, the Niagara particle system is used to generate water splash effect, and the effect is dynamically presented according to the collision detection data.

[0100] The contact point data is obtained by the collision detection component of the dynamic positioning virtual platform with the water body, the contact point position and the collision strength are judged, the trigger condition of the Niagara particle system is determined according to the contact point position and the collision strength output by the collision detection component, the preset splash special effect template of the Niagara particle system is obtained, and the template is loaded into the rendering pipeline of the Unreal Engine. The parameters of the Niagara particle system are adjusted through the collision strength data to obtain the particle quantity and the distribution density. The emission position of the Niagara particle system is modified according to the contact point position data to determine the spatial coordinates of the splash special effect. The “Water Height” and “Wave Direction” node parameters of the virtual water body environment are obtained to judge the influence of the water body wave height and wave direction on the splash. The motion trajectory of the Niagara particle system is adjusted through the wave height and wave direction parameters to obtain the dynamic diffusion effect of the splash. The brightness and transparency of the splash special effect are determined according to the material roughness and reflection properties of the dynamic positioning virtual platform. The rendering data of the splash special effect is updated through the Material node of the Unreal Engine to generate a dynamic rendering effect matched with the collision detection data.

[0101] Specifically, the steps are as follows:

[0102] The contact point data is obtained by the collision detection component of the dynamic positioning virtual platform with the water body, such as the contact point coordinates (3.5, 2.1, 0.8), and the collision intensity is 12.5N, and the contact point position and collision intensity are judged. According to the contact point position and collision intensity output by the collision detection component, the trigger condition of the Niagara particle system is determined, such as setting the collision intensity threshold to 10N, and triggering the particle system when the collision intensity is greater than 10N. The preset water splash special effect template of the Niagara particle system is obtained, and the template is loaded into the rendering pipeline of the Unreal Engine, such as loading the "WaterSplash_01" template. The parameters of the Niagara particle system are adjusted through the collision intensity data, such as setting the particle number to 1.5 times the collision intensity value, and the distribution density to 500 particles per square meter, to obtain the particle number and distribution density. The emission position of the Niagara particle system is modified according to the contact point position data, such as setting the emission position to (3.5, 2.1, 0.8), to determine the spatial coordinates of the water splash special effect. The "Water Height" and "Wave Direction" node parameters of the virtual water environment are obtained, such as "Water Height" being 0.5 meters and "Wave Direction" being 45 degrees, to judge the influence of the water body wave height and wave direction on the water splash. The motion trajectory of the Niagara particle system is adjusted through the wave height and wave direction parameters, such as setting the particle diffusion angle to the wave direction ± 15 degrees and the diffusion speed to 2 times the wave height, to obtain the dynamic diffusion effect of the water splash. According to the material roughness and reflectivity of the dynamic positioning virtual platform, such as roughness of 0.3 and reflectivity of 0.7, the brightness and transparency of the water splash special effect are determined, such as brightness set to reflectivity x 100 and transparency to roughness x 50. The rendering data of the water splash special effect is updated through the Material node of the Unreal Engine, such as adjusting the brightness to 70 and the transparency to 15, to generate a dynamic rendering effect matching the collision detection data.

[0103] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A dynamic positioning platform simulation device based on digital twin, characterized in that: include: A dynamic positioning physical platform (8) is provided. A main control board (1) is installed on the dynamic positioning physical platform (8). The main control board (1) is respectively connected to N voltage stabilizing modules (3) and a signal acquisition unit (6). The signal acquisition unit (6) is connected to a positioning device (5). The positioning device (5) includes a heading sensor and a roll sensor. The heading sensor and the roll sensor each include an integrated inertial measurement unit. The voltage stabilizing module (3) is respectively connected to an electronic regulator (2) and a power supply (4). The electronic regulator (2) is connected to a group of six-axis brushless motor vector propulsion systems (7). The six-axis brushless motor vector propulsion system (7) includes a brushless motor.

2. The dynamic positioning platform simulation device based on digital twin according to claim 1 is characterized in that: The main control board (1) comprises a wireless communication module, which realizes data interaction with a host computer via a communication network.

3. A simulation method for a dynamic positioning platform simulation device based on digital twins according to any one of claims 1 to 2, characterized in that: The method includes: Step 1: Acquire motion state data and positioning data of a dynamic positioning physical platform, wherein the dynamic positioning physical platform is equipped with a propulsion system and a sensor module; Step 2: realizing two-way data interaction between the dynamic positioning physical platform and the virtual platform through a communication network; Step 3: constructing a digital model of the dynamic positioning physical platform according to the motion state data and positioning data; Step 4: Perform real-time rendering and dynamic simulation on the digital model through a virtual engine to generate a virtual platform; Step 5: Obtain target position parameters through the human-computer interaction interface and output the real-time status of the virtual platform.

4. The simulation method of the dynamic positioning platform simulation device based on digital twin according to claim 3 is characterized in that: The step 1 of obtaining the motion state data and positioning data of the dynamic positioning physical platform includes: Acquiring propulsion force data through a six-axis brushless motor vector propulsion system configured at the bottom of the dynamic positioning physical platform; Acquiring heading data and roll data through an inertial measurement unit integrated into the dynamic positioning physical platform; The real-time coordinate data of the dynamic positioning physical platform is obtained through the positioning device.

5. The simulation method of the dynamic positioning platform simulation device based on digital twin according to claim 3 is characterized in that: In step 2, two-way data interaction between the dynamic positioning physical platform and the virtual platform is achieved through a communication network, including: Build a communication network through wireless communication modules; Transmitting the motion state data and positioning data to a host computer via the communication network; The target control instruction is transmitted to the dynamic positioning physical platform through the host computer.

6. The dynamic positioning platform simulation device based on digital twin according to claim 3 is characterized in that: The step 3 of constructing a digital model of the dynamic positioning physical platform according to the motion state data and positioning data includes: Generating digital models of various parts of the dynamic positioning physical platform using three-dimensional modeling software; adding appearance attributes to the digital model through a material system; The digital model is converted into a static mesh and dynamic components through an Unreal Engine.

7. The dynamic positioning platform simulation device based on digital twin according to claim 3 is characterized in that: The step 4 includes performing real-time rendering and dynamic simulation of the digital model using a virtual engine, including: geometrically reconstructing the digital model using virtual geometry technology; Simulate dynamic light source effects through global illumination technology; The motion state data of the digital model is refreshed by a timer.

8. The dynamic positioning platform simulation device based on digital twin according to claim 3 is characterized in that: The step 4 includes performing real-time rendering and dynamic simulation of the digital model using a virtual engine, including: Generate the experimental environment boundary through terrain editing tools; Simulate water environment through hydrodynamic system; The interaction effect between the digital model and the water body is generated through a collision detection component.

9. The dynamic positioning platform simulation device based on digital twin according to claim 3 is characterized in that: In step 5, obtaining target position parameters and outputting the real-time status of the virtual platform through the human-computer interaction interface includes: Obtain the target two-axis coordinates and heading angle through the input interface; Displaying the current coordinates and heading information of the virtual platform through an output interface; The dynamic movement of the virtual platform is synchronized with the dynamic positioning physical platform through data driving.

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