Real equipment-model mixed underwater vehicle cluster test system and method and computer product

Abstract

The invention provides a real equipment-model mixed underwater vehicle cluster test system and method, and a computer product, and the system comprises a cluster task planning system, a general control end, and a plurality of underwater vehicle ends. The general control end comprises a test general control module, a real-time docking module, a target simulation module, an underwater vehicle simulation module and a data aggregation and situation generation module. The system is used for carrying out a real flight test on a cluster formed by mixing real equipment and virtual vehicles, and compared with a pure simulation test, the influence of a real environment is brought in; the environment trueness and the test result credibility are improved, key technologies such as cluster control strategies can be rapidly tested and verified, and the capabilities of collaborative formation, collaborative planning, collaborative detection and the like of the unmanned underwater vehicle cluster are tested.

Description

Technical Field

[0001] This invention relates to the field of underwater vehicle testing technology, specifically to a hybrid underwater vehicle cluster testing system, method, and computer product that combines physical and model testing. Background Technology

[0002] In recent years, with the advancement of technologies such as electronics, detection, and propulsion, the technology of underwater unmanned vehicles has gradually improved and matured, and has been applied in fields such as underwater exploration, environmental surveys, and rescue. However, due to the special nature of the underwater environment, the capabilities of a single underwater unmanned vehicle are limited and cannot meet the needs of wide-area, high-efficiency, and multi-functional use. At the same time, with the rapid development of technologies such as networking communication and intelligent control, it has become an inevitable trend for the development of underwater unmanned vehicles to cooperate with each other in the form of a swarm to perform tasks.

[0003] Underwater unmanned vehicles can form swarms to perform tasks such as collaborative detection and intelligence reconnaissance. They are flexible in configuration, have a wide coverage area, strong fault tolerance, improve efficiency and enhance capabilities. Resource sharing among the groups can make up for the shortcomings of underwater unmanned vehicles.

[0004] Under current conditions, the various technologies of underwater unmanned vehicle (UAV) swarms need to be fully verified through integrated testing. Organizing a full-scale, live-fire test requires all participating UAVs to be fully equipped, involves a large amount of resources, is complex to organize, and carries high risks. Therefore, it is urgent to test key algorithms such as collaborative task planning and allocation, swarm collaborative control, formation, and collaborative detection of underwater UAV swarms by introducing some real test vehicles and environments and adding virtual elements before organizing a full-scale, live-fire test. This will improve test efficiency and fully release technical risks. Summary of the Invention

[0005] This invention provides a hybrid underwater unmanned vehicle (UAV) swarm test device that combines physical and virtual models. It supports dynamic real-world tests based on a hybrid underwater swarm of physical and virtual UAVs, enabling rapid testing of swarm algorithms under resource constraints. Compared to pure simulation testing, it incorporates the influence of the real environment, improving environmental realism and the reliability of test results. It can quickly test and verify key technologies such as swarm control strategies, and test the collaborative formation, collaborative planning, and collaborative detection capabilities of underwater UAV swarms.

[0006] Specifically, the present invention is implemented as follows:

[0007] According to the first aspect, the present invention provides a hybrid underwater vehicle cluster test system of actual equipment and model, including a central control terminal and several underwater vehicle terminals, wherein the central control terminal and the underwater vehicle terminals are communicatively connected, and the underwater vehicle terminals are equipped with underwater unmanned vehicle terminal information docking equipment.

[0008] The hybrid live-model underwater vehicle cluster test system also includes:

[0009] The cluster mission planning system is used for initial combat mission formulation and assembling of initial mission plans, monitoring of the external battlefield environment and mission execution status;

[0010] The central control terminal includes:

[0011] The test control module is used to generate test scenarios and issue test control commands to the underwater unmanned vehicle cluster.

[0012] The real-time docking module is used for communication with the information docking equipment of the underwater unmanned vehicle.

[0013] The target simulation module is used to generate virtual targets; the target simulation module is connected to the underwater vehicle via a real-time docking module; the target simulation module is connected to the virtual underwater vehicle via a data exchange device; the test control module is also used to coordinate and control the operation of the target simulation module.

[0014] The underwater vehicle simulation module, connected to the target simulation module and the real-time docking module, is used to generate a virtual underwater vehicle according to the test procedure.

[0015] The data aggregation and situation generation module is used to receive test data and generate test situation diagrams.

[0016] Furthermore, the target simulation module sends a virtual target to the underwater vehicle or virtual underwater vehicle when the following conditions are met:

[0017] If the virtual target is located within the area defined by the heading angle h of the current detection device relative to the underwater navigation end or the virtual underwater vehicle, the horizontal detection opening angle φ, the detection distance L, the pitch angle p of the virtual target relative to the underwater navigation end or the virtual underwater vehicle, and the vertical detection opening angle φ, then the transmission conditions are met.

[0018] Furthermore, the test scenario in the test task includes: test area, test task, test equipment, overall parameters, target parameters, and environmental parameters.

[0019] Furthermore, the real-time docking module is also used to receive the position, perception, decision-making, and coordination information from the underwater vehicle and send it to the test control module and the data aggregation and situation generation module. The real-time docking module and the underwater unmanned vehicle information docking equipment together complete the communication and interaction within the cluster composed of the actual and virtual underwater vehicles.

[0020] Furthermore, the experimental situation map includes cluster location, interaction information, target detection information, and target information to demonstrate the experimental situation.

[0021] Furthermore, the target simulation module is also used to receive the position information of the underwater vehicle terminal and the virtual underwater vehicle, calculate the target discovery status of each underwater vehicle terminal and the virtual vehicle terminal according to their detection capabilities and their position relationship with the virtual target, and send the target information that meets the conditions for sending virtual targets to the corresponding underwater vehicle terminal in real time through the real-time docking module, and send it to the corresponding virtual underwater vehicle in real time through the network.

[0022] According to a second aspect, the present invention provides a method for testing underwater vehicle clusters based on a hybrid real-model system, comprising the following steps:

[0023] Step 1: Design the test scenario using the overall test control module;

[0024] Step 2: Determine the number of underwater vehicle terminals and virtual underwater vehicles based on the test scenario;

[0025] Step 3: The underwater vehicle simulation module generates a virtual underwater vehicle for the test based on the test scenario;

[0026] Step 4: Input the test task requirements and test scenario into the cluster task planning system, and the cluster task planning system will generate the initial task plan;

[0027] Step 5: The target simulation module generates a virtual target based on the test scenario and constructs the target environment in the test mission of the underwater vehicle and the virtual underwater vehicle. The underwater vehicle and the virtual underwater vehicle conduct the test and send real-time information to the target simulation module.

[0028] Step 6: The target simulation module calculates the target discovery status of each underwater vehicle and virtual vehicle based on their detection capabilities and positional relationship with the virtual target (the target has corresponding target information). Based on the situational relationship, the target information that meets the conditions for sending virtual targets is sent to the corresponding underwater vehicle in real time through the real-time docking module, and the target information is sent to the corresponding virtual underwater unmanned vehicle in real time through the network.

[0029] Step 7: The data aggregation and situation generation module receives data from the underwater vehicle terminal, the virtual underwater vehicle, and the test data, and generates a test situation diagram.

[0030] According to a third aspect, the present invention also provides a computer program product, including computer program instructions that, when executed by a processor, implement the steps of the above-described method.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0032] (1) This invention realizes the testing of underwater vehicle clusters under limited resources by using both physical and virtual underwater vehicles.

[0033] (2) This invention brings simulation testing into the real environment, improving the realism of the environment and the credibility of the test results. Attached Figure Description

[0034] Figure 1 This is a system block diagram of the underwater vehicle cluster test system that combines physical and model components in Example 1;

[0035] Figure 2 This is a schematic diagram of the underwater vehicle cluster test system that combines physical and model components in Example 1;

[0036] Figure 3 In Example 1, the target simulation module generates a conditional graph where the virtual target is a horizontal target.

[0037] Figure 4 The conditional graph for generating a virtual target that is a vertical target in the target simulation module in Example 1 is used. Detailed Implementation

[0038] The present invention will be further described in detail below through specific embodiments.

[0039] Example 1

[0040] like Figure 1 As shown, this embodiment provides a hybrid underwater vehicle cluster test system, including: a central control terminal, a cluster mission planning system, an external measurement system, and several underwater vehicle terminals. The central control terminal and the underwater vehicle terminals communicate with each other, and the external measurement system is connected. The cluster mission planning system is used to formulate missions based on the target environment in the test mission and monitor the mission execution status. The underwater vehicle cluster mission planning system, based on the mission scenario, completes the initial combat mission formulation and initial mission planning for the underwater vehicles, monitors the external battlefield environment, and the mission execution status.

[0041] The central control unit includes:

[0042] The overall test control module is used to generate test scenarios, including test areas, test tasks, participating equipment, overall parameters, target parameters, and environmental parameters. It also controls and coordinates the operation of the underwater vehicle simulation module and the target simulation module according to the test process. Based on the test tasks, progress, and test situation, it issues test control commands to the underwater vehicle cluster (including both physical and virtual underwater vehicles), and intervenes in the underwater vehicle cluster according to the test situation, handling emergency situations, etc.

[0043] The real-time docking module is used to communicate with the underwater vehicle end, enabling intra-cluster communication and interaction between the underwater vehicle cluster composed of the actual underwater vehicle and the virtual underwater vehicle. According to the cluster control strategy, it sends information such as cluster collaborative control detection, tasks, planning, coordination, virtual underwater vehicles, and simulated targets to the participating actual underwater vehicle, and receives information such as position, perception, decision-making, and coordination from the actual underwater vehicle and sends it to the test master control module and the data aggregation and situation generation module.

[0044] The target simulation module generates virtual targets and communicates with the underwater vehicle. It generates virtual targets according to the experimental procedure, constructing the target environment for collaborative detection and planning experiments. These virtual targets can include surface and underwater targets. The module receives position information from both the actual and virtual underwater vehicles, calculates the detection status based on the detection capabilities of the participating underwater vehicles and their relationship to the target positions, and transmits the target information in real-time to the corresponding actual underwater vehicle via the central control terminal's real-time information docking module, and also transmits the target information to the corresponding virtual underwater vehicle via the network. The underwater vehicle then uses this information to calculate target elements. The data frequency and content must simulate the actual underwater detection conditions of the underwater vehicle. For example, the data transmission period is longer for long distances and shorter for short distances. When no underwater vehicle is using active detection, the data content can include bearing and distance; when the underwater vehicle is using passive detection, the data content can include bearing, heading, and frequency. The underwater vehicle cluster conducts joint estimation and adjustment planning of target elements based on target information, information of each underwater vehicle, mission requirements, coordination strategies, and handling logic, controls the coordinated actions of underwater vehicles, and performs navigation adjustments and target handling.

[0045] The target simulation module sends a virtual target to the underwater vehicle or virtual underwater vehicle when the following conditions are met:

[0046] Virtual target T(T) x ,T y The heading angle h of the current detection equipment relative to the underwater navigation end or virtual underwater vehicle, the horizontal detection opening angle φ, the detection distance L, and the virtual target T (T x ,T y If the area is within the range defined by the pitch angle p of the detection device relative to the underwater navigation end or virtual underwater vehicle and the vertical detection opening angle φ, then the transmission condition is met.

[0047] The underwater vehicle simulation module is connected to the target simulation module and the real-time docking module. It generates virtual underwater vehicles to participate in the test through simulation, which can simulate the underwater vehicle's mission planning, dynamic kinematics calculation, target detection, and cooperative control. It can form various forms of underwater vehicle clusters with the actual underwater vehicles.

[0048] The data aggregation and situation generation module receives data from the underwater vehicle cluster mission planning system, the participating underwater vehicles, the virtual underwater vehicles, the target simulation module, and the external measurement system, and generates an experimental situation map, including cluster position, interaction information, target detection information, and target information, to display the experimental situation.

[0049] Furthermore, the target environment in the test mission includes: test area, test mission, test equipment, overall parameters, target parameters, and environmental parameters.

[0050] Furthermore, the test situation map includes cluster location, interaction information, target detection information, and target information, showcasing the test situation.

[0051] Furthermore, the target simulation module is also used to receive the position information of the underwater vehicle and the virtual underwater vehicle, calculate the target discovery status based on the detection capabilities of the participating underwater vehicle and the virtual vehicle and their position relationship with the virtual target, and send the target information that meets the virtual target discovery conditions to the corresponding underwater vehicle in real time through the real-time docking module, and to the corresponding virtual underwater vehicle in real time through the network.

[0052] The specific experimental procedure is as follows:

[0053] The test scenario is designed using the overall test control module. Taking swarm collaborative detection as an example, the test area, the composition of the tested swarm (i.e., the number of actual and virtual swarms), and the target environment are determined. The underwater unmanned vehicle simulation module generates virtual test UUVs based on the test scenario, including kinematics, dynamics, loads, and control strategies. The test mission requirements and test scenario are input into the underwater swarm's swarm mission planning system to generate an initial mission plan, including swarm command and network structure (master-slave, parallel, etc.), mission requirements, mission allocation, and collaborative strategies. The initial mission is then loaded onto the actual and virtual test UUVs. The target simulation module generates and deploys targets according to the test procedure. After the test begins, the actual test UUVs enter the test waters and begin navigation, while the virtual UUVs begin navigation. According to the test mission plan and swarm strategy, the actual and virtual UUVs collaborate to complete grouping, navigation, detection, and other actions. The target simulation module calculates the target detection status of the participating real and virtual UUVs based on their positions and detection equipment capabilities. When the target detection conditions are met, it sends the target detection information to the corresponding UUV (real or virtual). (If the detection conditions are met for a real UUV, the information is sent to the corresponding real UUV; if the conditions are met for a virtual UUV, the information is sent to the corresponding virtual UUV.) The UUV cluster then performs information fusion, task allocation, and coordinates the actions of each UUV to complete the designated task. Communication between the central control terminal's real-time information docking module and the underwater unmanned vehicle terminal's information docking equipment facilitates intra-cluster communication between the underwater unmanned vehicle cluster composed of real and virtual UUVs, including the transmission of target information that meets the detection conditions to the real UUVs.

[0054] The external measurement system is used to acquire the trajectory of the actual underwater unmanned vehicle during the test and monitor its navigation. It is usually achieved using underwater acoustic positioning technology. It connects to the real-time docking module through data exchange equipment to realize information exchange and transmission.

[0055] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A hybrid underwater vehicle cluster test system combining physical and model components, comprising a central control terminal and several underwater vehicle terminals, wherein the central control terminal and the underwater vehicle terminals are communicatively connected, characterized in that, The underwater vehicle is equipped with information docking equipment for the underwater unmanned vehicle. The hybrid live-model underwater vehicle cluster test system also includes: The cluster mission planning system is used for initial combat mission formulation and assembling of initial mission plans, monitoring of the external battlefield environment and mission execution status; The central control terminal includes: The test control module is used to generate test scenarios and issue test control commands to the underwater unmanned vehicle cluster. The real-time docking module is used for communication with the information docking equipment of the underwater unmanned vehicle. The target simulation module is used to generate virtual targets; the target simulation module is connected to the underwater vehicle via a real-time docking module; the target simulation module is connected to the virtual underwater vehicle via a data exchange device; the test control module is also used to coordinate and control the operation of the target simulation module. The underwater vehicle simulation module, connected to the target simulation module and the real-time docking module, is used to generate virtual underwater vehicles according to the test mission and cluster composition requirements. The data aggregation and situation generation module is used to receive test data and generate test situation diagrams.

2. The underwater vehicle cluster test system with a hybrid real-model approach as described in claim 1, characterized in that, The target simulation module sends a virtual target to the underwater vehicle or virtual underwater vehicle when the following conditions are met: If the virtual target is located within the area defined by the heading angle h of the current detection device relative to the underwater navigation end or the virtual underwater vehicle, the horizontal detection opening angle φ, the detection distance L, the pitch angle p of the virtual target relative to the underwater navigation end or the virtual underwater vehicle, and the vertical detection opening angle φ, then the transmission conditions are met.

3. The underwater vehicle cluster test system with a hybrid real-model approach as described in claim 1, characterized in that, The test scenario in the test task includes: test area, test task, test equipment, overall parameters, target parameters, and environmental parameters.

4. The underwater vehicle cluster test system with a hybrid real-model approach as described in claim 1, characterized in that, The real-time docking module is also used to receive the position, perception, decision-making, and coordination information from the underwater vehicle and send it to the test control module and the data aggregation and situation generation module. The real-time docking module and the underwater unmanned vehicle information docking equipment together complete the communication and interaction within the cluster composed of the actual and virtual underwater vehicles.

5. The underwater vehicle cluster test system with a hybrid real-model approach as described in claim 1, characterized in that, The experimental situation map includes cluster location, interaction information, target detection information, and target information.

6. The underwater vehicle cluster test system with a hybrid real-model approach as described in claim 2, characterized in that, The target simulation module is also used to receive the position information of the underwater vehicle terminal and the virtual underwater vehicle, calculate the target discovery status of each underwater vehicle terminal and the virtual vehicle terminal according to their detection capabilities and their position relationship with the virtual target, and send the target information that meets the virtual target discovery conditions to the corresponding underwater vehicle terminal in real time through the real-time docking module, and to the corresponding virtual underwater vehicle in real time through the network.

7. A method for conducting a hybrid live-model underwater vehicle cluster test based on the system described in any one of claims 1-6, characterized in that, Includes the following steps: Step 1: Design the test scenario using the overall test control module; Step 2: Determine the number of underwater vehicle terminals and virtual underwater vehicles based on the test scenario; Step 3: The underwater vehicle simulation module generates a virtual underwater vehicle for the test based on the test scenario; Step 4: Input the test task requirements and test scenario into the cluster task planning system, and the cluster task planning system will generate the initial task plan; Step 5: The target simulation module generates a virtual target based on the test scenario and constructs the target environment for the underwater vehicle and the virtual underwater vehicle test mission. The underwater vehicle and the virtual underwater vehicle conduct the test and send real-time information to the target simulation module. Step 6: The target simulation module calculates the target detection status of each underwater vehicle and virtual vehicle based on their detection capabilities and positional relationship with the virtual target. Based on the situational relationship, the target information that meets the virtual target detection conditions is sent to the corresponding underwater vehicle in real time through the real-time docking module, and the target information is sent to the corresponding virtual underwater unmanned vehicle in real time through the network. Step 7: The data aggregation and situation generation module receives data from the underwater vehicle terminal, the virtual underwater vehicle, and the test data, and generates a test situation diagram.

8. A computer product comprising computer program instructions, characterized in that, When the computer program instructions are executed by the processor, they implement the steps of the method of claim 7.

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