Unmanned underwater vehicle automation test method, device, equipment and readable storage medium

Abstract

An unmanned underwater vehicle automation test method, device, equipment and readable storage medium, the unmanned underwater vehicle automation test method comprises: setting a main navigation line, an auxiliary navigation line, a test line, a test point and two diving points in a narrow channel; the unmanned underwater vehicle selects a diving point with a shorter distance as a target diving point, tracks the main navigation line and dives after reaching the target diving point; after the unmanned underwater vehicle dives to the target depth of the fifth multiple to the sixth multiple, it performs depth-keeping straight sailing to the opposite diving point; if the number of depth-keeping straight sailing does not reach a preset number, the unmanned underwater vehicle performs depth-keeping turning after depth-keeping straight sailing to the turning point corresponding to the opposite diving point, and returns to perform the step of depth-keeping straight sailing to the opposite diving point; if the number of depth-keeping straight sailing reaches the preset number, the unmanned underwater vehicle floats after depth-keeping straight sailing to the underwater position corresponding to the opposite diving point, and ends the test. Through the present application, the navigation test efficiency and automation level are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned underwater vehicle control, and particularly relates to an unmanned underwater vehicle automatic test method, device, equipment and readable storage medium. BACKGROUND

[0002] Currently, in the navigation test of a UUV (Unmanned underwater vehicle), a test device for measuring the performance of the UUV is arranged on the water surface across a UUV channel, the UUV to be measured is kept straight ahead at a certain depth directly below the test device, passes through the test device, and then floats up after passing through the test device by a certain distance, thereby completing a test. After floating up, the UUV is controlled to turn around and maneuver to the vicinity of another end of the test device by manual remote control, and then a second test is performed. In this way, all test items are completed. In addition, currently, before the UUV is submerged, the UUV needs to be manually controlled to the vicinity of a submersion point, and then switched to autonomous control after the depth, heading, offset and other parameters meet the submersion conditions, and then the submersion test is started.

[0003] To sum up, in the navigation test of the UUV, the UUV needs to be manually controlled to the vicinity of the submersion point before submersion, and needs to be frequently floated up and submerged, and needs to be manually controlled to turn around during the test. Therefore, the navigation test of the UUV is low in efficiency and needs to be improved in automation. SUMMARY

[0004] The present application provides an unmanned underwater vehicle automatic test method, device, equipment and readable storage medium, and aims to solve the technical problem that the navigation test of the UUV is low in efficiency and needs to be improved in automation.

[0005] In a first aspect, an unmanned underwater vehicle automatic test method is provided, and the unmanned underwater vehicle automatic test method comprises the following steps.

[0006] A main navigation line, an auxiliary navigation line, a test line, a test point and two submersion points are arranged in a narrow channel, the width of the narrow channel is a first multiple to a second multiple of the length of the unmanned underwater vehicle, the distance between the auxiliary navigation line and the main navigation line is a third multiple to a fourth multiple of the length of the unmanned underwater vehicle, the test point and the two submersion points are located on the main navigation line, the test line passes through the test point and is perpendicular to the main navigation line, and the two submersion points are distributed on the two sides of the test line.

[0007] When the unmanned underwater vehicle does not collide with the shore while tracking the main navigation line or the auxiliary navigation line along a current heading, and the vertical distance between the position of the unmanned underwater vehicle after tracking the main navigation line and the test line is greater than the turning advance distance of the unmanned underwater vehicle, the unmanned underwater vehicle selects a submersion point with a shorter distance as a target submersion point, tracks the main navigation line, and performs submersion after reaching the target submersion point.

[0008] When the unmanned underwater vehicle is dived to the target depth of the fifth multiple to the sixth multiple, the unmanned underwater vehicle is dived to the opposite diving point directly;

[0009] If the number of the direct diving does not reach the preset number, the unmanned underwater vehicle is turned at the turning point corresponding to the opposite diving point after the direct diving, and returns to the step of diving to the opposite diving point directly;

[0010] If the number of the direct diving reaches the preset number, the unmanned underwater vehicle is floated after the direct diving to the underwater position corresponding to the opposite diving point, and the test is ended.

[0011] Optionally, the unmanned underwater vehicle following the main navigation line comprises:

[0012] When the angle difference between the heading angle of the unmanned underwater vehicle and the main navigation line is less than a first preset difference, and the transverse offset distance of the unmanned underwater vehicle from the main navigation line is less than a preset offset distance, it is determined that the unmanned underwater vehicle follows the main navigation line.

[0013] Optionally, the unmanned underwater vehicle selecting the diving point with a shorter distance as the target diving point to track the main navigation line and diving after reaching the target diving point comprises:

[0014] The unmanned underwater vehicle selects the diving point with a shorter distance as the target diving point;

[0015] If the angle difference between the heading angle of the unmanned underwater vehicle and the main navigation line is less than a second preset difference, the unmanned underwater vehicle tracks the main navigation line, after following the main navigation line, if the position of the unmanned underwater vehicle is before the target diving point, the unmanned underwater vehicle dives after reaching the target diving point;

[0016] If the angle difference between the heading angle of the unmanned underwater vehicle and the main navigation line is less than a second preset difference, the unmanned underwater vehicle tracks the main navigation line, after following the main navigation line, if the position of the unmanned underwater vehicle is after the target diving point, the unmanned underwater vehicle performs a surface turn, tracks the auxiliary navigation line, after following the auxiliary navigation line, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by a seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs a surface turn, tracks the main navigation line again, and the unmanned underwater vehicle dives after following the main navigation line and reaching the target diving point;

[0017] If the angle difference between the heading angle of the unmanned underwater vehicle and the main navigation line is not less than the second preset difference, the unmanned underwater vehicle tracks the auxiliary navigation line, after following the auxiliary navigation line, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by a seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs a surface turn, tracks the main navigation line, and the unmanned underwater vehicle dives after following the main navigation line and reaching the target diving point.

[0018] Optionally, the unmanned underwater vehicle tracking the main navigation line comprises:

[0019] The target bow angle is calculated by a horizontal plane kinematic guidance formula, which is:

[0020] , , ;

[0021] The current bow angle of the unmanned underwater vehicle is controlled by the rudder angle based on a bow control law of horizontal plane dynamics, which is:

[0022] , ;

[0023] wherein, Ψ d is the target bow angle, d is the target track angle, β is the drift angle, e n is the lateral offset of the track, is the line of sight length in the horizontal plane, △ max is the maximum line of sight distance in the horizontal plane, △ min is the minimum line of sight distance in the horizontal plane, exp() is the natural exponential function, k n is the adjustment parameter, v is the lateral speed of the unmanned underwater vehicle, u is the longitudinal speed of the unmanned underwater vehicle, δ Ψ is the rudder angle, and are control inputs, is the control output, is the deviation of the current bow angle Ψ and the target bow angle Ψ d , is the rate of change of the deviation of the current bow angle Ψ and the target bow angle Ψ d , and △f1 represents an adjustment term for adapting to environmental disturbances, and k1 and k2 are control parameters.

[0024] Optionally, the constant-depth straight sailing includes:

[0025] The target trim angle is calculated by a vertical plane kinematic guidance formula, which is:

[0026] , , ;

[0027] The current trim angle of the unmanned underwater vehicle is controlled by the horizontal rudder angle based on a trim control law of vertical plane dynamics, which is:

[0028] , ;

[0029] wherein θ d is a target pitch angle, χ d is a target trim angle, α is an attack angle, e m is a vertical offset of depth-keeping, is a sight length of a vertical plane, is a maximum sight distance of a vertical plane, is a minimum sight distance of a vertical plane, exp() is a natural exponential function, k m is an adjustment parameter, w is a vertical velocity of the unmanned underwater vehicle, u is a longitudinal velocity of the unmanned underwater vehicle, δ θ is a rudder angle of a horizontal rudder, and are control inputs, is a control output, is a deviation of a current pitch angle θ and a target pitch angle θ d , is a rate of change of a deviation of a current pitch angle θ and a target pitch angle θ d , and △f2 represents an adjustment term for adapting to environmental disturbances, and k3 and k4 are control parameters, respectively.

[0030] Optionally, before the unmanned underwater vehicle selects a target diving point to track the main route and dives after reaching the target diving point, when the unmanned underwater vehicle will not collide with the shore along the current heading to track the main route or the auxiliary route, and the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main route is greater than the turning advance distance of the unmanned underwater vehicle, the method comprises:

[0031] If it is detected that the unmanned underwater vehicle will collide with the shore along the current heading to track the main route or the auxiliary route, or the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main route is not greater than the turning advance distance of the unmanned underwater vehicle, the state of the unmanned underwater vehicle is adjusted to a state in which the unmanned underwater vehicle will not collide with the shore along the current heading to track the main route or the auxiliary route, and the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main route is greater than the turning advance distance of the unmanned underwater vehicle.

[0032] In a second aspect, the embodiments of the present application provide an unmanned underwater vehicle automatic test device, which comprises:

[0033] The setting module is configured to set a main route, an auxiliary route, a test line, a test point, and two diving points in a narrow waterway, wherein the narrow waterway has a width of a first multiple to a second multiple of the length of the unmanned underwater vehicle, the auxiliary route is at a distance of a third multiple to a fourth multiple of the length of the unmanned underwater vehicle from the main route, the test point and the two diving points are located on the main route, the test line passes through the test point and is perpendicular to the main route, and the two diving points are distributed on both sides of the test line.

[0034] The safety detection module is configured to, when the unmanned underwater vehicle does not collide with the shore while tracking the main route or the auxiliary route along the current heading, and the vertical distance between the position of the unmanned underwater vehicle and the test line is greater than the turning advance distance of the unmanned underwater vehicle after the unmanned underwater vehicle tracks the main route, select the diving point closer in distance as the target diving point to track the main route and dive after reaching the target diving point.

[0035] The diving module is configured to, after the unmanned underwater vehicle dives to a fifth multiple to a sixth multiple of the target depth, perform depth-keeping straight sailing to the opposite diving point.

[0036] The cycle test module is configured to, if the number of times of depth-keeping straight sailing does not reach a preset number, perform depth-keeping turning after the unmanned underwater vehicle performs depth-keeping straight sailing to a turning point corresponding to the opposite diving point, and return to perform the step of performing depth-keeping straight sailing to the opposite diving point.

[0037] The floating end module is configured to, if the number of times of depth-keeping straight sailing reaches the preset number, perform floating after the unmanned underwater vehicle performs depth-keeping straight sailing to an underwater position corresponding to the opposite diving point, and end the test.

[0038] Optionally, the unmanned underwater vehicle selects the diving point closer in distance as the target diving point to track the main route and dive after reaching the target diving point.

[0039] The unmanned underwater vehicle selects the diving point closer in distance as the target diving point.

[0040] If the difference between the heading angle of the unmanned underwater vehicle and the angle of the main route is less than a second preset difference, the unmanned underwater vehicle tracks the main route, after tracking the main route, if the position of the unmanned underwater vehicle is before the target diving point, the unmanned underwater vehicle dives after reaching the target diving point.

[0041] If the difference between the heading angle of the unmanned underwater vehicle and the angle of the main route is less than a second preset difference, the unmanned underwater vehicle tracks the main route, after tracking the main route, if the position of the unmanned underwater vehicle is after the target diving point, the unmanned underwater vehicle performs surface turning, tracks the auxiliary route, after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by a seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs surface turning again, tracks the main route again, and the unmanned underwater vehicle dives after tracking the main route and reaching the target diving point.

[0042] If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is not less than the second preset difference, the unmanned underwater vehicle tracks the auxiliary route, after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by the seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs a surface turn, tracks the main route, and after tracking the main route and reaching the target diving point, the unmanned underwater vehicle performs diving.

[0043] In a third aspect, the embodiments of the present application provide an unmanned underwater vehicle automatic test device, the unmanned underwater vehicle automatic test device comprises a processor, a memory, and an unmanned underwater vehicle automatic test program stored in the memory and executable by the processor, wherein when the unmanned underwater vehicle automatic test program is executed by the processor, the steps of the unmanned underwater vehicle automatic test method described above are implemented.

[0044] In a fourth aspect, the embodiments of the present application provide a readable storage medium, the readable storage medium stores an unmanned underwater vehicle automatic test program, wherein when the unmanned underwater vehicle automatic test program is executed by a processor, the steps of the unmanned underwater vehicle automatic test method described above are implemented.

[0045] The technical solutions provided by the embodiments of the present application have the following beneficial effects:

[0046] In the embodiment of the present application, the main navigation line, the auxiliary navigation line, the test line, the test point and two diving points are arranged in the narrow channel, the width of the narrow channel is the length of the unmanned underwater vehicle multiplied by the first multiple to the second multiple, the distance between the auxiliary navigation line and the main navigation line is the length of the unmanned underwater vehicle multiplied by the third multiple to the fourth multiple, the test point and the two diving points are located on the main navigation line, the test line passes through the test point and is perpendicular to the main navigation line, and the two diving points are distributed on the two sides of the test line; when the unmanned underwater vehicle does not collide with the shore when tracking the main navigation line or the auxiliary navigation line along the current heading, and the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main navigation line is greater than the turning advance distance of the unmanned underwater vehicle, the unmanned underwater vehicle selects the diving point with shorter distance as the target diving point to track the main navigation line and dives after reaching the target diving point; after the unmanned underwater vehicle dives to the target depth multiplied by the fifth multiple to the sixth multiple, the unmanned underwater vehicle performs depth-keeping straight sailing to the opposite diving point; if the number of times of depth-keeping straight sailing does not reach the preset number of times, the unmanned underwater vehicle performs depth-keeping turning after depth-keeping straight sailing to the turning point corresponding to the opposite diving point, and returns to perform the step of depth-keeping straight sailing to the opposite diving point; if the number of times of depth-keeping straight sailing reaches the preset number of times, the unmanned underwater vehicle floats after depth-keeping straight sailing to the underwater position corresponding to the opposite diving point, and ends the test. Through the embodiment of the present application, through automatic detection of safety conditions, it can be ensured that the unmanned underwater vehicle does not collide with the shore and the test equipment on the test line even when performing navigation test in the narrow channel, the unmanned underwater vehicle can smoothly switch to autonomous control under the condition that the safety condition is met, and then through automatic underwater continuous round trip test, the unmanned underwater vehicle does not need manual operation throughout the process, which greatly improves the navigation test efficiency and automation level of the unmanned underwater vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 Flowchart of an embodiment of the unmanned underwater vehicle automatic test method of the present application;

[0048] Figure 2 Schematic diagram of narrow channel arrangement of an embodiment of the unmanned underwater vehicle automatic test method of the present application;

[0049] Figure 3 Schematic diagram of underwater test flow of an embodiment of the unmanned underwater vehicle automatic test method of the present application;

[0050] Figure 4 Schematic diagram of functional modules of an embodiment of the unmanned underwater vehicle automatic test device of the present application;

[0051] Figure 5 Schematic diagram of the hardware structure of the unmanned underwater vehicle automatic test equipment involved in the embodiment of the present application. DETAILED DESCRIPTION

[0052] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the drawings.

[0054] In a first aspect, the embodiments of the present application provide an unmanned underwater vehicle automatic test method.

[0055] In an embodiment, with reference to Figure 1 , Figure 1 A flowchart of an embodiment of the unmanned underwater vehicle automatic test method of the present application is shown in FIG. 1. The unmanned underwater vehicle automatic test method comprises the following steps. Figure 1

[0056] Step S10, setting a main route, an auxiliary route, a test line, test points and two diving points in a narrow waterway, the width of the narrow waterway being a first multiple to a second multiple of the length of the unmanned underwater vehicle, the distance between the auxiliary route and the main route being a third multiple to a fourth multiple of the length of the unmanned underwater vehicle, the test points and the two diving points being located on the main route, the test line passing through the test points and being perpendicular to the main route, and the two diving points being distributed on both sides of the test line.

[0057] In the embodiment, in order to measure the performance of the unmanned underwater vehicle (UUV), the unmanned underwater vehicle needs to sail straight at a constant depth underwater, and the unmanned underwater vehicle needs to pass through a certain depth directly below the test equipment arranged on the water surface. The embodiment is applied to a narrow waterway. The unmanned underwater vehicle sailing test in the narrow waterway has a greater collision risk and control difficulty compared with the general waterway, and in particular, there is a problem that the sailing test efficiency of the UUV is low and the automation degree needs to be improved. With reference to Figure 2 , Figure 2 A schematic diagram of setting a narrow waterway for an embodiment of the unmanned underwater vehicle automatic test method of the present application is shown in FIG. 2. The unmanned underwater vehicle automatic test method comprises the following steps. Figure 2 ​As shown, the channel width of the narrow channel is 8L-12L (L is the length of the unmanned underwater vehicle), the main route, the auxiliary route, the test line, the test point and two diving points are arranged in the narrow channel, the main route and the auxiliary route are evenly arranged in the middle of the channel, the distance between the auxiliary route and the main route is 5.5L-6.5L based on the turning performance and safety margin of the UUV, that is, within a certain range of the recommended distance 6L, the test point and the two diving points are located on the main route, the test line passes through the test point and is perpendicular to the main route, and the two diving points are distributed on both sides of the test line, so that the UUV can pass through the test equipment at a predetermined depth and route, thereby accurately measuring the performance of the UUV. In addition, corresponding safety boundary lines can also be arranged on one side of the main route and the auxiliary route close to the shore side, and the distance between the safety boundary line and the main route or the auxiliary route is 1L-2L, which is used to ensure that the UUV has enough safety distance during navigation to avoid collision with the shore side. Two auxiliary diving points parallel to the positions of the two diving points on the main route can also be arranged on the auxiliary route for positioning of route tracking. Based on the above settings, a clear navigation path and safety boundary can be provided for the automatic continuous test of the UUV. Among them, the distance between the diving point and the test point is determined according to the test requirements. Specifically, Figure 2 1 is the main route, 2 is the auxiliary route, 3 is the shore side, 4 is the safety boundary line, 5 is the 2# diving point, 6 is the 1# diving point, 7 is the test point (test equipment), 8 is the auxiliary 1# diving point, 9 is the auxiliary 2# diving point, 10 is the auxiliary test point, and 11 is the test line.

[0058] In step S20, when the unmanned underwater vehicle does not collide with the shore side while tracking the main route or the auxiliary route along the current heading, and the vertical distance between the position of the unmanned underwater vehicle and the test line after the unmanned underwater vehicle follows the main route is greater than the turning advance distance of the unmanned underwater vehicle, the unmanned underwater vehicle selects the diving point with a shorter distance as the target diving point to track the main route and dive after reaching the target diving point.

[0059] In this embodiment, before the unmanned underwater vehicle switches to autonomous control, the safety condition is first automatically detected to ensure the safety of the test of the unmanned underwater vehicle. The safety condition detection includes two aspects: one is that the unmanned underwater vehicle does not collide with the shore side while tracking the main route or the auxiliary route (steering away from the shore side); the other is that the vertical distance between the position of the unmanned underwater vehicle and the test line after the unmanned underwater vehicle follows the main route is greater than the turning advance distance of the unmanned underwater vehicle, so as to ensure that the unmanned underwater vehicle does not collide with the test equipment. When the safety condition is met, the unmanned underwater vehicle selects the diving point with a shorter distance as the target diving point, starts to track the main route, and dives after reaching the target diving point.

[0060] The judgment formula of the unmanned underwater vehicle does not collide with the shore side while tracking the main route or the auxiliary route along the current heading is: D bj > D0+7.2L×cos(ψ-γ bjn), the judgment formula that the vertical distance of the UUV to the test line after the UUV follows the main course is greater than the turning distance of the UUV is D sz > D0+7.2L×[1 + cos(ψ-γ bj )] wherein, D bj is the distance of the UUV to the safety boundary line, D0 is the safety distance (for example, 0.5L), ψ is the bow angle of the UUV, γ bjn is the normal angle of the safety boundary line, L is the length of the UUV, D sz is the vertical distance of the UUV to the test line, and γ bj is the angle of the safety boundary line.

[0061] Step S30, after the unmanned underwater vehicle is dived to the target depth of the fifth multiple to the sixth multiple, the unmanned underwater vehicle is dived to the opposite diving point.

[0062] In the embodiment, after the UUV follows the main course and reaches the target diving point, the UUV enters the diving stage. The specific process of the diving stage is that the UUV is dived with the fixed rudder before the UUV is submerged (the depth is less than a certain value H), and specifically, for the UUV with the bow rudder and the stern rudder, the bow rudder is dived with the fixed diving rudder, the stern rudder is dived with the fixed floating rudder, and the whole is dived in the parallel diving rudder mode, so as to balance the buoyancy of the UUV and avoid violent pitching; for the UUV with only the stern rudder, the stern rudder is dived with the fixed diving rudder. The UUV is dived with the automatic rudder after the UUV is submerged (the depth is greater than a certain value H), and specifically, the UUV is dived with the rudder angle calculated by the course tracking and depth control algorithm. When the UUV is dived to the target depth of 0.8-0.9 times, the diving stage ends, the UUV is dived to the opposite diving point, and the UUV is dived to the opposite diving point.

[0063] Step S40, if the number of times of the diving and straight sailing does not reach the preset number of times, the unmanned underwater vehicle is dived to the opposite diving point at the turning point corresponding to the diving and straight sailing, and returns to execute the step of diving and straight sailing to the opposite diving point.

[0064] In the embodiment, the number of times of the diving and straight sailing test can be set according to specific requirements, for example, set to 3 times, and the number of times of the diving and straight sailing test is not limited in the embodiment. Figure 3 , Figure 3 is the underwater test flowchart of the unmanned underwater vehicle automatic test method of the embodiment of the present application, as shown in Figure 3 , Figure 3Fig. 12 is a schematic diagram of a UUV's underwater navigation path according to the present application. In Fig. 12, 12 represents diving, 13 represents straight diving, 14 represents diving turning, 15 represents surfacing, 16 represents a first diving point, 17 represents a second diving point, 18 represents a testing point, 19 represents a main navigation path, 20 represents a first turning point, and 21 represents a second turning point. If the number of times of straight diving does not reach a preset number of times (e.g., 3 times), the UUV performs diving turning after diving to a turning point corresponding to an opposite-side diving point in the straight diving. The specific process of diving turning is as follows: while maintaining diving, the rudder is operated to perform turning at a fixed rudder angle. For the case of reaching the first turning point, the rudder is first operated to full right, the heading angle is changed by 80°, then the rudder is operated to full left to perform turning, and after the heading reaches (Ψ 12 + 15°), diving turning is ended, and Ψ 12 represents the direction of the navigation path from the first diving point to the second diving point, and the UUV enters the straight diving stage. For the case of reaching the second turning point, the rudder is first operated to full left, the heading angle is changed by 80°, then the rudder is operated to full right to perform turning, and after the heading reaches (Ψ 21 - 15°), diving turning is ended, and Ψ 21 represents the direction of the navigation path from the second diving point to the first diving point, and the UUV enters the straight diving stage. For the X-shaped rudder, the rudder angle is allocated preferentially to the diving turning process, because the X-shaped rudder has better rudder efficiency and stability during turning. During the whole turning process, diving control is performed, and the diving control method is referred to the control method in the straight diving stage, so as to ensure that the depth of the UUV is stable during the turning process, and to avoid depth fluctuation affecting the measurement result. In this way, the UUV can realize continuous underwater round-trip test without manual intervention.

[0065] In step S50, if the number of times of straight diving reaches the preset number of times, the UUV is surfaced after diving to an underwater position corresponding to the opposite-side diving point in the straight diving, and the test is ended.

[0066] In the embodiment, if the number of times of straight diving reaches the preset number of times (e.g., 3 times), the UUV is surfaced after diving to an underwater position corresponding to the opposite-side diving point in the straight diving, and the test is ended. The specific process of surfacing is as follows: after the test is ended, the rudder is operated to surface, the bow rudder (if configured) and the stern rudder are operated to surface at a fixed rudder angle for surfacing. During the surfacing process, the UUV continues to maintain diving control, so as to ensure that the surfacing process is stable, and to avoid attitude instability of the UUV due to too fast surfacing speed. After being surfaced to the water surface, the UUV is automatically stopped, and the whole test process is completed. Taking the test task of 3 times of underwater round-trip navigation as an example, the test process is as follows: diving-straight diving-diving turning-straight diving-diving turning-straight diving-surfacing. In this way, the UUV can be automatically returned to the water surface after completing all test items, and the whole process does not need manual intervention, which greatly improves the navigation test efficiency and automation level of the UUV.

[0067] In the embodiment, the UUV is applied to a narrow channel. The UUV navigation test in the narrow channel has a greater collision risk and control difficulty relative to a general channel. By setting a main navigation line, an auxiliary navigation line, a test line, test points, and two diving points in the narrow channel, the UUV can pass through the test equipment at a predetermined depth and navigation line, so as to accurately measure the performance of the UUV and provide a clear navigation path and a safe boundary for the automatic continuous test of the UUV. Before the UUV switches to autonomous control, the safety condition is automatically detected to ensure the test safety of the UUV. After the UUV is dived to a target depth, such as 0.8-0.9 times the target depth, the diving stage ends, and the UUV is directly navigated at the target depth to the opposite diving point, passes through the test line from below, and completes a test. The UUV automatically performs continuous underwater round-trip tests, and automatically returns to the water surface after completing all test items. No manual intervention is required in the whole process, which greatly improves the navigation test efficiency and automation level of the UUV.

[0068] Further, in an embodiment, the UUV following the main navigation line comprises:

[0069] When the angle difference between the heading angle of the UUV and the main navigation line is less than a first preset difference, and the lateral offset distance of the UUV from the main navigation line is less than a preset offset distance, it is determined that the UUV follows the main navigation line.

[0070] In the embodiment, when the angle difference between the heading angle of the UUV and the main navigation line is less than 10 degrees, and the lateral offset distance of the UUV from the main navigation line is less than 20 meters, it is determined that the UUV follows the main navigation line. The determination condition is determined based on the steering performance and navigation accuracy of the UUV. The angle difference of 10 degrees ensures that the UUV is basically consistent with the direction of the main navigation line, and the lateral offset distance of 20 meters considers the width of the UUV and the navigation accuracy, so as to ensure that the UUV can stably track the main navigation line. When the UUV meets the two conditions, it indicates that the UUV has successfully entered the main navigation line tracking state, and can start to perform subsequent diving or turning operations. The setting of the determination condition considers the navigation accuracy and avoids the UUV from failing to smoothly enter the navigation line tracking state due to too strict conditions.

[0071] Further, in an embodiment, the UUV selecting a diving point with a shorter distance as a target diving point to track the main navigation line and diving after reaching the target diving point comprises:

[0072] The UUV selects a diving point with a shorter distance as a target diving point;

[0073] If the angle difference between the heading angle of the UUV and the main navigation line is less than a second preset difference, the UUV tracks the main navigation line. After following the main navigation line, if the position of the UUV is before the target diving point, the UUV dives after reaching the target diving point.

[0074] If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is less than the second preset difference, the unmanned underwater vehicle tracks the main route. After tracking the main route, if the position of the unmanned underwater vehicle is behind the target diving point, the unmanned underwater vehicle performs a surface turn, tracks the auxiliary route, and after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by seven times the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs a surface turn again, tracks the main route, and after tracking the main route and reaching the target diving point, the unmanned underwater vehicle performs diving.

[0075] If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is not less than the second preset difference, the unmanned underwater vehicle tracks the auxiliary route. After tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by seven times the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs a surface turn, tracks the main route, and after tracking the main route and reaching the target diving point, the unmanned underwater vehicle performs diving.

[0076] In this embodiment, the unmanned underwater vehicle finally tracks the main route and performs diving at a target diving point with a relatively short distance. Due to the initial position and heading angle of the unmanned underwater vehicle, the unmanned underwater vehicle needs to track the auxiliary route first and then track the main route in some cases, and the unmanned underwater vehicle exceeds the target diving point after tracking the main route. Therefore, after selecting a diving point with a relatively short distance as the target diving point, the unmanned underwater vehicle tracks the main route is divided into three cases:

[0077] (1) If the difference between the heading angle of the unmanned underwater vehicle and the main route is less than 90 degrees, the unmanned underwater vehicle tracks the main route. After tracking the main route, if the position of the unmanned underwater vehicle is before the target diving point, the unmanned underwater vehicle enters the diving process after reaching the target diving point.

[0078] (2) If the difference between the heading angle of the unmanned underwater vehicle and the main route is less than 90 degrees, the unmanned underwater vehicle tracks the main route. After tracking the main route, if the position of the unmanned underwater vehicle is behind the target diving point, the unmanned underwater vehicle starts a surface turn. After the heading angle of the unmanned underwater vehicle changes by 165 degrees, the unmanned underwater vehicle tracks the auxiliary route. After tracking the auxiliary route, until the position of the unmanned underwater vehicle exceeds the auxiliary diving point 3L, the unmanned underwater vehicle starts a surface turn. After the heading angle of the unmanned underwater vehicle changes by 165 degrees, the unmanned underwater vehicle tracks the main route again. After tracking the main route and reaching the target diving point, the unmanned underwater vehicle enters the diving process.

[0079] (3) If the difference between the heading angle of the unmanned underwater vehicle and the main route is greater than 90 degrees, the unmanned underwater vehicle tracks the auxiliary route. After tracking the auxiliary route, until the position of the unmanned underwater vehicle exceeds the auxiliary diving point 3L, the unmanned underwater vehicle starts a surface turn. After the heading angle of the unmanned underwater vehicle changes by 165 degrees, the unmanned underwater vehicle tracks the main route. After tracking the main route and reaching the target diving point, the unmanned underwater vehicle enters the diving process.

[0080] The strategy of tracking the main route is designed considering the initial state of the UUV and the navigation condition, ensuring that the UUV can reach the target diving point with the shortest path while avoiding unnecessary turning in the narrow channel, improving the test efficiency. By setting the 3L auxiliary diving point overtaking distance, it is ensured that the UUV has enough space to complete the turning action during the turning process, avoiding collision in the narrow channel.

[0081] Further, in an embodiment, the unmanned underwater vehicle tracking the main route includes:

[0082] The target bow angle is calculated by the horizontal plane kinematic guidance formula, which is:

[0083] , , ;

[0084] With the target bow angle as the target, the rudder angle controls the current bow angle of the unmanned underwater vehicle based on the horizontal plane dynamics bow control law, which is:

[0085] , ;

[0086] Wherein, Ψ d is the target bow angle, d is the target track angle, β is the drift angle, e n is the lateral offset of the main route tracking, is the horizontal line of sight length, △ max is the maximum horizontal line of sight distance, △ min is the minimum horizontal line of sight distance, exp() is the natural exponential function, k n is the adjustment parameter, v is the lateral speed of the unmanned underwater vehicle, u is the longitudinal speed of the unmanned underwater vehicle, δ Ψ is the rudder angle, and are control inputs, is the control output, is the deviation of the current bow angle Ψ and the target bow angle Ψ d , is the rate of change of the deviation of the current bow angle Ψ and the target bow angle Ψ d , △f1 represents the adjustment term to adapt to environmental disturbances, and k1 and k2 are control parameters.

[0087] In the embodiment, the specific implementation of the unmanned underwater vehicle tracking the main course includes two aspects of horizontal plane kinematic guidance and dynamics control. The horizontal plane kinematic guidance is mainly to calculate the target bow angle through the horizontal plane kinematic guidance formula. The dynamics control is mainly to take the target bow angle as the target, to control the current bow angle of the unmanned underwater vehicle through the rudder angle based on the bow control law of the horizontal plane dynamics, so as to achieve the target bow angle. It should be noted that, compared with the fixed line of sight length in the prior art, the control response speed of approaching the course and the control stability after reaching the course cannot be well balanced. The method of part of the step variable line of sight length can only improve this situation to a certain extent. In the embodiment, the line of sight length of the horizontal plane is expressed as a function of the offset distance. In this way, the line of sight length can be dynamically adjusted according to the offset distance between the unmanned underwater vehicle and the course, so that the control response speed of approaching the course and the control stability after reaching the course can be well balanced, and the course tracking control of the horizontal plane is fast and stable.

[0088] Further, in an embodiment, the depth-keeping straight sailing includes:

[0089] The target pitch angle is calculated through the vertical plane kinematic guidance formula, and the vertical plane kinematic guidance formula is:

[0090]

[0091] The target pitch angle is taken as the target, and the current pitch angle of the unmanned underwater vehicle is controlled through the rudder angle based on the pitch control law of the vertical plane dynamics, and the pitch control law of the vertical plane dynamics is:

[0092]

[0093] wherein, θ d is the target pitch angle, χ d is the target diving angle, α is the attack angle, e m is the vertical offset distance of the depth-keeping sailing, is the line of sight length of the vertical plane, is the maximum line of sight distance of the vertical plane, is the minimum line of sight distance of the vertical plane, exp() is the natural exponential function, k m is the adjustment parameter, w is the vertical velocity of the unmanned underwater vehicle, u is the longitudinal velocity of the unmanned underwater vehicle, δ θ is the rudder angle, and are control inputs, is the control output, is the current pitch angle θ and the target pitch angle θ d ​​​​​​the deviation of the current pitch angle θ and the target pitch angle θ the deviation of the current pitch angle θ and the target pitch angle θ d the deviation of the current pitch angle θ and the target pitch angle θ, △f2 represents an adjustment term for adapting to environmental interference, and k3 and k4 are control parameters.

[0094] In the embodiment, the UUV only needs to control the heading when sailing on the water surface, but needs to control the pitch when sailing underwater. The specific implementation of the underwater fixed-depth straight sailing includes horizontal plane kinematic guidance and dynamic control, and vertical plane kinematic guidance and dynamic control. The vertical plane kinematic guidance mainly calculates the target pitch angle through a vertical plane kinematic guidance formula, and the dynamic control mainly controls the current pitch angle of the UUV through the rudder angle of the horizontal rudder to achieve the target pitch angle based on the pitch control law of the vertical plane dynamics with the target pitch angle as the target. Similarly, the target pitch angle is calculated through the vertical plane kinematic guidance formula based on the current pitch angle of the UUV and the target pitch angle of the UUV, and the current pitch angle of the UUV is controlled through the rudder angle of the horizontal rudder based on the pitch control law of the vertical plane dynamics with the target pitch angle as the target. The line-of-sight length of the vertical plane is expressed as a function of the offset distance, so that the line-of-sight length can be dynamically adjusted according to the offset distance of the UUV from the course, so that the control response speed of the approach depth and the control stability after reaching the depth are well balanced, and the underwater vertical plane fixed-depth control is fast and stable.

[0095] Further, in an embodiment, before step S20, the method further comprises:

[0096] If it is detected that the UUV will collide with the shore when tracking the main course or the auxiliary course along the current heading, or that the vertical distance from the position of the UUV to the test line after the UUV tracks the main course is not greater than the turning advance distance of the UUV, the state of the UUV is adjusted to that the UUV will not collide with the shore when tracking the main course or the auxiliary course along the current heading, and the vertical distance from the position of the UUV to the test line after the UUV tracks the main course is greater than the turning advance distance of the UUV.

[0097] In the embodiment, it is detected in real time whether the state of the UUV meets the safety test condition, and if not, the state of the UUV is adjusted through manual or automatic algorithm until the safety test condition is met, so as to ensure the safety of the test of the UUV.

[0098] In a second aspect, the embodiment of the present application further provides an unmanned underwater vehicle automatic test device.

[0099] In an embodiment, the unmanned underwater vehicle automatic test device comprises: Figure 4 Figure 4 The function module schematic diagram of the unmanned underwater vehicle automatic test device is shown in FIG. 1. Figure 4 The unmanned underwater vehicle automatic test device comprises:

[0100] ​The setting module 10 is configured to set a main route, an auxiliary route, a test line, a test point and two diving points in a narrow channel, the width of the narrow channel is a first multiple to a second multiple of the length of the unmanned underwater vehicle, the distance between the auxiliary route and the main route is a third multiple to a fourth multiple of the length of the unmanned underwater vehicle, the test point and the two diving points are located on the main route, and the test line passes through the test point and is perpendicular to the main route, and the two diving points are distributed on both sides of the test line.

[0101] The safety detection module 20 is configured to, when the unmanned underwater vehicle does not collide with the shore when tracking the main route or the auxiliary route along the current heading, and the vertical distance between the position of the unmanned underwater vehicle and the test line is greater than the turning advance distance of the unmanned underwater vehicle after the unmanned underwater vehicle tracks the main route, the unmanned underwater vehicle selects the diving point with a shorter distance as a target diving point to track the main route and dive after reaching the target diving point.

[0102] The diving module 30 is configured to, when the unmanned underwater vehicle dives to a fifth multiple to a sixth multiple of the target depth, perform depth-keeping straight sailing to the opposite diving point.

[0103] The cycle test module 40 is configured to, if the number of times of depth-keeping straight sailing does not reach a preset number of times, the unmanned underwater vehicle performs depth-keeping turning after depth-keeping straight sailing to the turning point corresponding to the opposite diving point, and returns to perform the step of performing depth-keeping straight sailing to the opposite diving point.

[0104] The floating end module 50 is configured to, if the number of times of depth-keeping straight sailing reaches the preset number of times, the unmanned underwater vehicle floats after depth-keeping straight sailing to the underwater position corresponding to the opposite diving point, and ends the test.

[0105] Further, in an embodiment, the unmanned underwater vehicle tracking the main route is configured to:

[0106] When the angle difference between the heading angle of the unmanned underwater vehicle and the main route is less than a first preset difference, and the lateral offset distance of the unmanned underwater vehicle from the main route is less than a preset offset distance, it is determined that the unmanned underwater vehicle tracks the main route.

[0107] Further, in an embodiment, the unmanned underwater vehicle selecting the diving point with a shorter distance as a target diving point to track the main route and dive after reaching the target diving point is configured to:

[0108] The unmanned underwater vehicle selects the diving point with a shorter distance as a target diving point.

[0109] If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is less than a second preset difference, the unmanned underwater vehicle tracks the main route, and after tracking the main route, if the position of the unmanned underwater vehicle is before the target diving point, the unmanned underwater vehicle dives after reaching the target diving point.

[0110] If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is less than the second preset difference value, the unmanned underwater vehicle tracks the main route, after tracking the main route, if the position of the unmanned underwater vehicle is behind the target diving point, the unmanned underwater vehicle performs a water surface turn, tracks the auxiliary route, after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by the seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs a water surface turn, again tracks the main route, and the unmanned underwater vehicle performs diving after tracking the main route and reaching the target diving point;

[0111] If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is not less than the second preset difference value, the unmanned underwater vehicle tracks the auxiliary route, after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by the seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs a water surface turn, tracks the main route, and the unmanned underwater vehicle performs diving after tracking the main route and reaching the target diving point.

[0112] Further, in an embodiment, the unmanned underwater vehicle tracks the main route for:

[0113] The target heading angle is calculated by a horizontal plane kinematic guidance formula, the horizontal plane kinematic guidance formula is:

[0114] , , ;

[0115] With the target heading angle as the target, the current heading angle of the unmanned underwater vehicle is controlled by the rudder angle based on the heading control law of the horizontal dynamics, the heading control law of the horizontal dynamics is:

[0116] , ;

[0117] Wherein, Ψ d is the target heading angle, d is the target track angle, β is the drift angle, e n is the lateral offset of tracking the main route, is the line of sight length of the horizontal plane, △ max is the maximum line of sight distance of the horizontal plane, △ min is the minimum line of sight distance of the horizontal plane, exp() is the natural exponential function, k n is the adjustment parameter, v is the lateral speed of the unmanned underwater vehicle, u is the longitudinal speed of the unmanned underwater vehicle, δ Ψ is the rudder angle, and are control inputs, is the control output, the deviation of the current heading angle Ψ and the target heading angle Ψ d , the rate of change of the deviation of the current heading angle Ψ and the target heading angle Ψ d , △f1 represents an adjustment term for adapting to environmental disturbances, and k1 and k2 are control parameters, respectively.

[0118] Further, in an embodiment, the depth-keeping straight sailing is used for:

[0119] The target pitch angle is calculated by a vertical plane kinematic guidance formula, which is:

[0120] , , ;

[0121] With the target pitch angle as the target, a pitch control law based on vertical plane dynamics is used to control the current pitch angle of the unmanned underwater vehicle through the rudder angle of the horizontal rudder, and the pitch control law based on vertical plane dynamics is:

[0122] , ;

[0123] wherein θ d is the target pitch angle, χ d is the target diving angle, α is the attack angle, e m is the vertical offset of the depth-keeping sailing, is the line-of-sight length of the vertical plane, is the maximum line-of-sight distance of the vertical plane, is the minimum line-of-sight distance of the vertical plane, exp() is the natural exponential function, k m is an adjustment parameter, w is the vertical velocity of the unmanned underwater vehicle, u is the longitudinal velocity of the unmanned underwater vehicle, δ θ is the rudder angle of the horizontal rudder, and are control inputs, respectively, is a control output, is the deviation of the current pitch angle θ and the target pitch angle θ d , is the rate of change of the deviation of the current pitch angle θ and the target pitch angle θ d , △f2 represents an adjustment term for adapting to environmental disturbances, and k3 and k4 are control parameters, respectively.

[0124] Further, in an embodiment, the unmanned underwater vehicle automatic test device further comprises an adjustment module, which is used for:

[0125] If it is detected that the unmanned underwater vehicle will crash into the shore along the current heading to track the main route or the auxiliary route, or the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle follows the main route is not greater than the turning advance distance of the unmanned underwater vehicle, the state of the unmanned underwater vehicle is adjusted to that the unmanned underwater vehicle will not crash into the shore along the current heading to track the main route or the auxiliary route, and the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle follows the main route is greater than the turning advance distance of the unmanned underwater vehicle.

[0126] The functions of the modules in the unmanned underwater vehicle automatic test device correspond to the steps in the embodiments of the unmanned underwater vehicle automatic test method, and the functions and implementation processes are not repeated here.

[0127] In a third aspect, the embodiments of the present application provide an unmanned underwater vehicle automatic test device.

[0128] Reference Figure 5 , Figure 5 FIG. 1 is a schematic diagram of a hardware structure of an unmanned underwater vehicle automatic test device according to an embodiment of the present application. The unmanned underwater vehicle automatic test device can include a processor, a memory, a communication interface, and a communication bus.

[0129] The communication bus can be of any type, used to interconnect the processor, the memory, and the communication interface.

[0130] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and the like, which are interfaces for interconnecting devices inside the unmanned underwater vehicle automatic test device, and interfaces for interconnecting the unmanned underwater vehicle automatic test device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, and the like; the user device can be a display (Display), a keyboard (Keyboard), and the like.

[0131] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), and the like.

[0132] The processor can be a general processor, which can invoke an unmanned underwater vehicle automatic test program stored in the memory and execute the unmanned underwater vehicle automatic test method provided in the embodiments of the present application. For example, the general processor can be a central processing unit (CPU). The method executed when the unmanned underwater vehicle automatic test program is invoked can refer to the embodiments of the unmanned underwater vehicle automatic test method of the present application, which will not be described here.

[0133] Those skilled in the art can understand that the hardware structure shown in the foregoing embodiments is not a limitation of the present application, and can include more or fewer components than those shown, or combine certain components, or different component arrangements. Figure 5

[0134] In a fourth aspect, the embodiments of the present application further provide a readable storage medium.

[0135] The readable storage medium of the present application stores an unmanned underwater vehicle automatic test program, wherein the unmanned underwater vehicle automatic test program is executed by the processor to implement the steps of the unmanned underwater vehicle automatic test method as described above.

[0136] The method implemented when the unmanned underwater vehicle automatic test program is executed can refer to the embodiments of the unmanned underwater vehicle automatic test method of the present application, which will not be described here.

[0137] It should be noted that the serial numbers of the embodiments of the present application described above are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0138] The terms "comprising" and "having" and any variations thereof in the specification and claims of the present application and the above-described drawings are intended to cover not exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, etc., and do not represent the order or limit the types of "first", "second" and "third".

[0139] In the description of the embodiments of the present application, "exemplary", "for example", "for instance" or the like is used to mean by way of example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary", "for example" or "for instance" are intended to present the relevant concept in a specific manner. ​

[0140] In the description of the embodiments of the present application, unless otherwise specified, " / " means the meaning of or, for example, A / B can mean A or B; "and / or" in the text only describes the relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0141] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or in parallel without the order in which they appear in the embodiments of the present application, and the serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0142] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0143] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An unmanned underwater vehicle automated testing method, characterized by, The unmanned underwater vehicle automatic test method comprises the following steps: The main route, the auxiliary route, the test line, the test point and two diving points are arranged in the narrow channel, the width of the narrow channel is the length of the unmanned underwater vehicle multiplied by the first multiple to the second multiple, the distance between the auxiliary route and the main route is the length of the unmanned underwater vehicle multiplied by the third multiple to the fourth multiple, the test point and the two diving points are located on the main route, the test line passes through the test point and is perpendicular to the main route, and the two diving points are distributed on the two sides of the test line; When the unmanned underwater vehicle does not collide with the bank along the current heading while tracking the main route or the auxiliary route, and the vertical distance between the position of the unmanned underwater vehicle and the test line is greater than the turning approach distance of the unmanned underwater vehicle after the unmanned underwater vehicle tracks the main route, the unmanned underwater vehicle selects the diving point with a shorter distance as the target diving point to track the main route and dives after reaching the target diving point; When the unmanned underwater vehicle dives to the target depth multiplied by the fifth multiple to the sixth multiple, the unmanned underwater vehicle performs depth-keeping straight sailing to the opposite diving point; If the number of times of depth-keeping straight sailing does not reach the preset number of times, the unmanned underwater vehicle performs depth-keeping turning after depth-keeping straight sailing to the turning point corresponding to the opposite diving point, and returns to perform the step of depth-keeping straight sailing to the opposite diving point; If the number of times of depth-keeping straight sailing reaches the preset number of times, the unmanned underwater vehicle performs surface floating after depth-keeping straight sailing to the underwater position corresponding to the opposite diving point, and ends the test.

2. The unmanned underwater vehicle automated test method of claim 1, wherein, The unmanned underwater vehicle tracking the main route comprises the following steps: When the angle difference between the bow heading angle of the unmanned underwater vehicle and the main route is less than the first preset difference, and the lateral offset distance of the unmanned underwater vehicle from the main route is less than the preset offset distance, it is determined that the unmanned underwater vehicle tracks the main route.

3. The unmanned underwater vehicle automated test method of claim 1, wherein, The unmanned underwater vehicle selecting the diving point with a shorter distance as the target diving point to track the main route and diving after reaching the target diving point comprises the following steps: The unmanned underwater vehicle selects the diving point with a shorter distance as the target diving point; If the angle difference between the bow heading angle of the unmanned underwater vehicle and the main route is less than the second preset difference, the unmanned underwater vehicle tracks the main route, and after tracking the main route, if the position of the unmanned underwater vehicle is before the target diving point, the unmanned underwater vehicle dives after reaching the target diving point; If the angle difference between the bow heading angle of the unmanned underwater vehicle and the main route is less than the second preset difference, the unmanned underwater vehicle tracks the main route, and after tracking the main route, if the position of the unmanned underwater vehicle is after the target diving point, the unmanned underwater vehicle performs surface turning, tracks the auxiliary route, and after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle multiplied by the seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs surface turning, tracks the main route again, and dives after tracking the main route and reaching the target diving point; If the angle difference between the bow heading angle of the unmanned underwater vehicle and the main route is not less than the second preset difference, the unmanned underwater vehicle tracks the auxiliary route, and after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle multiplied by the seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs surface turning, tracks the main route, and dives after tracking the main route and reaching the target diving point.

4. The unmanned underwater vehicle automated test method of claim 1, wherein, The unmanned underwater vehicle tracking the main route comprises the following steps: The target bow angle is calculated by a horizontal plane kinematic guidance formula, the horizontal plane kinematic guidance formula being: ， ， ； The current bow angle of the unmanned underwater vehicle is controlled by a rudder angle of a rudder based on a bow control law of horizontal plane dynamics, the bow control law of horizontal plane dynamics being: ， ； wherein Ψ d is the target heading angle, d is the target track angle, β is the drift angle, e n is the lateral offset of the track, is the line-of-sight length in the horizontal plane, △ max is the maximum line-of-sight distance in the horizontal plane, △ min is the minimum line-of-sight distance in the horizontal plane, exp() is the natural exponential function, k n is the adjustment parameter, v is the lateral velocity of the UUV, u is the longitudinal velocity of the UUV, δ Ψ is the rudder angle, and are control inputs, is the control output, is the deviation of the current heading angle Ψ and the target heading angle Ψ d , and is the rate of change of the deviation of the current heading angle Ψ and the target heading angle Ψ d , △f1 represents an adjustment term for adapting to environmental disturbances, and k1 and k2 are control parameters, respectively.

5. The unmanned underwater vehicle automated test method of claim 1, wherein, The straight sailing to the depth includes: The target trim angle is calculated by a vertical plane kinematic guidance formula, the vertical plane kinematic guidance formula being: ， ， ； The current trim angle of the unmanned underwater vehicle is controlled by an elevator angle of an elevator based on a trim control law of vertical plane dynamics, the trim control law of vertical plane dynamics being: ， ； where θ d is the target pitch angle, χ d is the target dive angle, α is the attack angle, e m is the vertical offset for depth keeping, is the apparent length of the vertical plane, is the maximum apparent distance of the vertical plane, is the minimum apparent distance of the vertical plane, exp() is the natural exponential function, k m is the adjustment parameter, w is the vertical velocity of the unmanned underwater vehicle, u is the longitudinal velocity of the unmanned underwater vehicle, δ θ is the rudder angle of the horizontal rudder, and are control inputs, is the control output, is the deviation of the current pitch angle θ and the target pitch angle θ d , is the rate of change of the deviation of the current pitch angle θ and the target pitch angle θ d , and Δf2 represents an adjustment term for adapting to environmental disturbances, and k3 and k4 are control parameters, respectively.

6. The unmanned underwater vehicle automated test method of claim 1, wherein, When the unmanned underwater vehicle does not collide with the bank along the current course while tracking the main route or the auxiliary route, and the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main route is greater than the turning advance of the unmanned underwater vehicle, the unmanned underwater vehicle selects a closer diving point as a target diving point to track the main route and performs diving after reaching the target diving point, and the method includes: If it is detected that the unmanned underwater vehicle will collide with the bank along the current course while tracking the main route or the auxiliary route, or the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main route is not greater than the turning advance of the unmanned underwater vehicle, the state of the unmanned underwater vehicle is adjusted to that of the unmanned underwater vehicle not colliding with the bank along the current course while tracking the main route or the auxiliary route, and the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main route being greater than the turning advance of the unmanned underwater vehicle.

7. An unmanned underwater vehicle automated test equipment, characterized by, The unmanned underwater vehicle automatic test device includes: The setting module is configured to set a main route, an auxiliary route, a test line, a test point, and two diving points in a narrow channel, the width of the narrow channel being a first multiple to a second multiple of the length of the unmanned underwater vehicle, the distance between the auxiliary route and the main route being a third multiple to a fourth multiple of the length of the unmanned underwater vehicle, the test point and the two diving points being located on the main route, the test line passing through the test point and being perpendicular to the main route, and the two diving points being distributed on both sides of the test line. The safety detection module is configured to select a closer diving point as a target diving point for the unmanned underwater vehicle to track the main route when the unmanned underwater vehicle does not collide with the bank along the current course while tracking the main route or the auxiliary route, and the vertical distance from the position of the unmanned underwater vehicle to the test line after the unmanned underwater vehicle tracks the main route is greater than the turning advance of the unmanned underwater vehicle, and to control the unmanned underwater vehicle to dive after reaching the target diving point. The diving module is configured to control the unmanned underwater vehicle to perform straight sailing to the depth to the opposite diving point after the unmanned underwater vehicle dives to a fifth multiple to a sixth multiple of the target depth. The cycle test module is configured to control the unmanned underwater vehicle to perform depth-keeping turning after the unmanned underwater vehicle performs straight sailing to the depth to the opposite diving point corresponding to the turning point if the number of times of straight sailing to the depth does not reach a preset number, and to return to perform the step of controlling the unmanned underwater vehicle to perform straight sailing to the depth to the opposite diving point. The floating end module is configured to control the unmanned underwater vehicle to float after the unmanned underwater vehicle performs straight sailing to the depth to the underwater position corresponding to the opposite diving point if the number of times of straight sailing to the depth reaches the preset number, and to end the test.

8. The UUV automation test set of claim 7, wherein, The unmanned underwater vehicle selects a closer diving point as a target diving point to track the main route and performs diving after reaching the target diving point, which is used for The unmanned underwater vehicle selects a diving point with a shorter distance as a target diving point; If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is less than the second preset difference, the unmanned underwater vehicle tracks the main route, and after tracking the main route, if the position of the unmanned underwater vehicle is before the target diving point, the unmanned underwater vehicle performs diving after reaching the target diving point; If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is less than the second preset difference, the unmanned underwater vehicle tracks the main route, and after tracking the main route, if the position of the unmanned underwater vehicle is after the target diving point, the unmanned underwater vehicle performs surface turning, tracks the auxiliary route, and after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by a seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs surface turning, tracks the main route again, and after tracking the main route and reaching the target diving point, the unmanned underwater vehicle performs diving; If the angle difference between the heading angle of the unmanned underwater vehicle and the main route is not less than the second preset difference, the unmanned underwater vehicle tracks the auxiliary route, and after tracking the auxiliary route, when the position of the unmanned underwater vehicle exceeds the length of the unmanned underwater vehicle by a seventh multiple of the auxiliary diving point corresponding to the target diving point, the unmanned underwater vehicle performs surface turning, tracks the main route, and after tracking the main route and reaching the target diving point, the unmanned underwater vehicle performs diving.

9. An unmanned underwater vehicle automated test equipment, characterized by, The unmanned underwater vehicle automatic test device comprises a processor, a memory, and an unmanned underwater vehicle automatic test program stored in the memory and executable by the processor, wherein the unmanned underwater vehicle automatic test program is executed by the processor to implement the steps of the unmanned underwater vehicle automatic test method according to any one of claims 1 to 6.

10. A readable storage medium, characterized by, The readable storage medium stores an unmanned underwater vehicle automatic test program, wherein the unmanned underwater vehicle automatic test program is executed by the processor to implement the steps of the unmanned underwater vehicle automatic test method according to any one of claims 1 to 6.

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