Digital simulation method for unmanned underwater vehicle cluster

Abstract

The invention relates to the technical field of unmanned underwater vehicle clusters, in particular to a digital simulation method for an unmanned underwater vehicle cluster to simulate an actual environment. The method comprises a software architecture design method capable of being used for co-simulation among multiple unmanned underwater vehicles. Constructing an unmanned underwater vehicle cluster digital simulation method capable of being deployed under various operating systems; constructing a design method capable of simulating underwater acoustic communication in multi-unmanned underwater vehicle simulation; the unmanned underwater vehicle cluster digital simulation method based on modular design, parameter display, information interaction and network communication design is constructed. And finally, on the basis of adding an unmanned underwater vehicle hydrodynamic resolving model, simulating each sensor in the unmanned underwater vehicle and underwater acoustic communication, realizing single or multi-platform simulation and co-simulation of the unmanned underwater vehicle cluster, and providing a digital simulation verification environment for the unmanned underwater vehicle cluster. The research and development efficiency of the unmanned underwater vehicle cluster is improved, and the research and development and test cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of unmanned underwater vehicle (UUV) swarm technology, specifically a digital simulation method that can be used to simulate the actual environment of UUV swarms. Background Technology

[0002] In recent years, unmanned underwater vehicles (UUVs) have been widely used in both military and civilian fields, and are gradually developing towards localization, intelligence, and swarming. An underwater swarm refers to a group of multiple autonomous underwater unmanned platforms that have command, control, and communication relationships, jointly undertaking specific tasks, and characterized by high efficiency, low cost, and reconfigurability. With technological advancements, the perception, communication, and collaboration capabilities of underwater UUV swarms are constantly improving. Furthermore, traditional single-agent UUVs can no longer meet the demands of underwater missions. Therefore, for the increasing prevalence of swarm-based underwater UUVs, relevant simulation technologies urgently need to be developed. A simulation software architecture that supports multi-system platform deployment for collaboration among UUV swarms needs to be constructed, and which can also support future applications in traditional single-platform simulation and swarm simulation scenarios.

[0003] Currently, most domestic simulation software technologies still maintain single-platform and single-system simulation. When facing cluster simulation scenarios, they cannot meet practical needs. Therefore, the digital simulation method for unmanned underwater vehicle (UUV) clusters designed in this invention can simulate single-platform UUVs, multi-platform UUVs, and collaborative simulations between multi-platform UUVs. In multi-UUV collaborative simulation, information exchange between multiple platform UUVs can be achieved through simulated underwater acoustic communication, completing designated tasks and verifying the actual functions of the UUVs. Furthermore, to meet the increasing demand for domestically produced solutions, the digital simulation method for UUV clusters designed in this invention can be deployed across multiple system platforms, addressing more complex application requirements in the future. Summary of the Invention

[0004] To overcome the shortcomings of the existing technology and improve the efficiency of swarm underwater vehicle simulation in practical applications, this invention provides a digital simulation method that can be used to simulate the actual environment of unmanned underwater vehicle swarms, solving the problems of traditional single underwater vehicle simulation, lack of information exchange between swarm underwater vehicles, and difficulty in porting simulation software to multiple systems.

[0005] The technical solution adopted by the present invention to achieve the above objectives is as follows:

[0006] A digital simulation method for use in unmanned underwater vehicle swarms includes the following steps:

[0007] 1) Develop simulation software for collaboration among unmanned underwater vehicle swarms;

[0008] 2) Construct all boundary conditions during the simulation operation of the unmanned underwater vehicle cluster, and verify the correctness of the unmanned underwater vehicle's handling methods and execution logic for different boundary scenarios by setting relevant boundary conditions;

[0009] 3) Construct a digital hydrodynamic model of the unmanned underwater vehicle cluster simulation in the simulation software, simulate the interaction between the actual onboard equipment and the unmanned underwater vehicle, and upload the relevant parameters of the unmanned underwater vehicle to the simulation interface for display;

[0010] 4) Read and write configuration file parameters and send relevant commands through the simulation interface using simulation software;

[0011] 5) Designed and developed within a cross-platform application development framework, enabling the simulation software to be deployed on multiple operating systems and employing network communication to simulate real communication channels.

[0012] Step 1) specifically refers to:

[0013] A multi-process and multi-threaded parallel architecture is constructed. The required virtual unmanned underwater vehicles are invoked by designing an interface button trigger. When the digital simulation method of unmanned underwater vehicle cluster is deployed on different computers under the same local area network, the required virtual unmanned underwater vehicle processes are invoked respectively for collaborative simulation.

[0014] The specific implementation method of the multi-process and multi-threaded parallel architecture is as follows:

[0015] When simulating unmanned underwater vehicles and related functions, independent threads are created and run by calling the required threads. By calling the corresponding threads of the virtual underwater vehicle as needed, multiple functions of the unmanned underwater vehicle in digital form can be realized.

[0016] When simulating a collaborative simulation scenario of multiple unmanned underwater vehicles, a multi-process approach is adopted, creating multiple independent processes. Each process simulates its corresponding unmanned underwater vehicle. Within each process, virtual payload acoustic devices are used for information transmission and reception coordination, while information exchange between processes is achieved through local area network communication.

[0017] Step 2) specifically refers to:

[0018] By setting different faults and boundary conditions through the simulation interface, the required fault modes and UAV numbers are configured into the simulation software. The simulation software generates fault information based on the real equipment or operating conditions and feeds it back to the control computer through the virtualized communication link according to the protocol interface of the real equipment, thus verifying whether the UAV's handling method and execution logic for this boundary scenario are correct.

[0019] The fault modes corresponding to the boundary conditions include: equipment faults, condition faults, and other faults. The simulation process for different fault modes is as follows:

[0020] For equipment failure simulation, all failure modes of the actual equipment carried by the unmanned underwater vehicle are simulated, and relevant failure information of the corresponding equipment is sent to the control computer.

[0021] For state failure simulation, unconventional state information is simulated using the navigation system equipment onboard the unmanned underwater vehicle, and corresponding state failure information is sent to the control computer.

[0022] For other fault simulations, relevant emergency scenarios and changes in the underwater environment are simulated and transmitted to the control computer via a virtual communication link.

[0023] Step 3) specifically refers to:

[0024] A digital hydrodynamic model of an unmanned underwater vehicle (UUV) is constructed using a modular design approach. Various devices carried by the UUV are modularly packaged, and relevant modules are added or removed for different UUVs.

[0025] During the simulation process that simulates a real environment, relevant information from the solution of the digital hydrodynamic model of the unmanned underwater vehicle and equipment status information are uploaded to the simulation interface.

[0026] Step 4) specifically refers to:

[0027] The system reads and writes the initial information of the cluster submarine and the configuration information of the onboard equipment through the configuration file. At the same time, it sets and modifies the relevant parameters in the configuration file through the simulation interface. After the simulation software successfully reads the configuration file during the startup process, it initializes the relevant parameters of the process and thread according to the configuration information.

[0028] By receiving special scenario commands from the simulation interface and transmitting them to the control computer, the scenario of information interaction between shore-based wireless communication equipment and clustered underwater vehicles is simulated, verifying the function of the control computer in responding to commands received by the unmanned underwater vehicle during navigation and the execution of related tasks.

[0029] The method of simulating real communication channels using network communication specifically includes:

[0030] The digital simulation software uses network communication methods to interact with the control computer and simulation interface, and uses Ethernet communication via network multicast to simulate non-network communication channels in real-world scenarios.

[0031] The present invention has the following beneficial effects and advantages:

[0032] 1. It can be deployed on multiple operating systems and has strong portability. This digital simulation method for unmanned underwater vehicle swarms can meet the needs of domestic production and related application tasks. Due to the software architecture designed with a cross-platform application development framework compilation environment, this simulation software can cope with multiple operating system platforms and meet the relevant task requirements. This digital simulation method for unmanned underwater vehicle swarms has good adaptability and stability for different operating systems.

[0033] 2. Abundant Application Scenarios. This digital simulation method for unmanned underwater vehicle (UUV) swarms can simulate single-platform or multi-platform UUVs, as well as multi-UUV collaborative simulation. This simulation method employs a multi-threaded approach to simulate multiple UUVs, calling the required UUV threads based on actual scenarios to achieve simultaneous simulation of multiple UUVs. Furthermore, in scenarios involving collaborative operation of UUV swarms, information exchange and coordination among multiple UUVs can be achieved through simulated payload acoustic equipment to complete complex underwater mission simulations, providing a sufficient theoretical foundation for actual underwater operations of UUVs.

[0034] 3. Simple to use and highly stable. This digital simulation method for unmanned underwater vehicle (UUV) swarms uses network communication to construct data communication channels and simulates actual non-network communication channels via multicast, effectively reducing wiring connections in the actual simulation scenario and simplifying the structure. Simultaneously, it employs a modular design approach, enabling plug-and-play functionality for virtual devices in scenarios involving changes or additions to equipment on the UUVs, significantly improving the efficiency of simulation software modification. These two design methods give this digital simulation method for UUV swarms good robustness and adaptability. Attached Figure Description

[0035] Figure 1 This is a simulation diagram of underwater acoustic communication of an unmanned underwater vehicle swarm;

[0036] Figure 2 This is a schematic diagram of the overall architecture of the unmanned underwater vehicle cluster simulation and the architecture of a single underwater vehicle;

[0037] Figure 3 This is a schematic diagram of the architecture of a digital simulation method for unmanned underwater vehicle clusters. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and examples.

[0039] A digital simulation method for unmanned underwater vehicle swarms includes the following steps:

[0040] a) Construct a simulation software architecture that can be used for collaboration among unmanned underwater vehicle clusters;

[0041] b) Construct all boundary conditions during the simulation operation of the unmanned underwater vehicle cluster;

[0042] c) Construct a digital hydrodynamic model for simulating an unmanned underwater vehicle (UUV) cluster, simulate the interaction between the actual onboard equipment and the UUV, and upload relevant parameters of the UUV to the simulation interface for display;

[0043] d) Construct a digital simulation method for unmanned underwater vehicle clusters that has the function of reading and writing configuration file parameters and transmitting relevant commands through the simulation interface;

[0044] e) Construct a digital simulation method for unmanned underwater vehicle clusters that can be deployed on multiple operating systems;

[0045] f) Construct a network communication method and use network communication to simulate real communication channel communication.

[0046] Constructing a simulation software architecture for collaboration among unmanned underwater vehicle swarms includes the following steps:

[0047] a1) Employ software multi-process and multi-threaded parallel methods;

[0048] a2) Implement the function of calling the required virtual unmanned underwater vehicle by designing the interface button trigger;

[0049] a3) When the digital simulation method for unmanned underwater vehicle (UUV) swarms is deployed on different computers within the same local area network, the required virtual UUV processes are invoked separately to achieve collaborative simulation. It features flexible organizational structure, data resource sharing, and real-time interaction.

[0050] The methods for software multi-process and multi-threaded parallelism include the following steps:

[0051] a1.1) In the multi-threaded parallel method, an independent thread is created to run and simulate the unmanned underwater vehicle and related functions. By calling the virtual underwater vehicle's thread as needed, the functions of solving the hydrodynamic model of the unmanned underwater vehicle in digital form, running the virtual equipment, and setting boundary conditions are realized, so that it has the digital simulation capability of a single underwater vehicle platform.

[0052] a1.2) When simulating a multi-unmanned underwater vehicle collaborative simulation scenario, a multi-process approach is adopted, creating independent processes and simulating their respective unmanned underwater vehicles. Within each process, virtual payload acoustic devices are used to transmit and receive collaborative information, and information exchange between processes is achieved through local area network communication, enabling it to have the capability of multi-unmanned underwater vehicle collaborative simulation.

[0053] Constructing all boundary conditions during the simulation operation of an unmanned underwater vehicle swarm includes the following steps:

[0054] b1) Boundary conditions in the digital simulation method of unmanned underwater vehicle clusters include equipment failure, condition failure and other failures.

[0055] b2) Set boundary conditions through the simulation interface, configure the required fault modes and UAV number into the simulation software, and the simulation software generates fault information based on the real equipment or operating conditions. The information is then fed back to the control computer through the virtualized communication link according to the protocol interface of the real equipment. This verifies whether the UAV's handling method and execution logic for this boundary scenario are correct.

[0056] Equipment malfunctions, conditional malfunctions, and other malfunctions include the following steps:

[0057] b1.1) For equipment failure simulation, simulation can be carried out based on all failure modes of the equipment actually carried by the unmanned underwater vehicle, and relevant failure information of the equipment can be sent to the control computer.

[0058] b1.2) For state failure simulation, unconventional state information can be simulated based on the navigation system equipment carried by the unmanned underwater vehicle, and this state failure information can be sent to the control computer.

[0059] b1.3) Simulate other faults, including relevant emergency scenarios and changes in the underwater environment, and send the simulation results to the control computer via a virtual communication link.

[0060] A digital hydrodynamic model for simulating an unmanned underwater vehicle (UUV) swarm is constructed to simulate interaction between the actual onboard equipment and the UUV, and relevant parameters of the UUVs are uploaded to the simulation interface for display. This includes the following steps:

[0061] c1) A digital hydrodynamic model of an unmanned underwater vehicle is constructed and a modular design method is adopted. It runs periodically within the unmanned underwater vehicle simulation thread and has high adaptability to unmanned underwater vehicle cluster simulation scenarios, achieving a plug-and-play effect.

[0062] c2) Simulates various real equipment carried by unmanned underwater vehicles, including navigation, power, acoustic equipment, and other related equipment. It also employs a modular packaging design for various devices, allowing for the addition and removal of relevant modules for different underwater unmanned vehicles, giving the simulation software strong adaptability, interactivity, and robustness.

[0063] c3) During the simulation process of simulating a real environment, this simulation software will upload relevant information from the solution of the digital hydrodynamic model of the unmanned underwater vehicle and the equipment status information to the simulation interface, so that the attitude, position and equipment status information of the unmanned underwater vehicle cluster can be seen intuitively.

[0064] A digital simulation method for an unmanned underwater vehicle (UUV) cluster, capable of reading and writing configuration file parameters and transmitting relevant commands through a simulation interface, is constructed, including the following steps:

[0065] d1) Construct a function that allows reading and writing of specified device parameters through a configuration file, including initial information of the cluster of underwater drones and network address information of the onboard devices, and modify relevant parameters in the configuration file through the simulation interface. After the simulation software successfully reads the configuration file during startup, it initializes the relevant parameters of the process and threads based on the configuration information. This method can effectively improve the modification efficiency of the digital simulation program for unmanned underwater drone clusters, making the software highly modifiable and adaptable.

[0066] d2) By receiving special scenario commands from the simulation interface and transmitting them to the control computer, the scenario of information interaction between shore-based wireless communication equipment and clustered underwater vehicles can be simulated, verifying the function of the control computer to respond to commands received by the unmanned underwater vehicle during navigation and execution of related tasks.

[0067] A digital simulation method for unmanned underwater vehicle (UUV) swarms that can be deployed on multiple operating systems is constructed, specifically as follows:

[0068] This digital simulation method for unmanned underwater vehicle clusters is designed and developed within a cross-platform application development framework. It is compatible with domestic operating systems, Linux operating systems, and Windows operating systems, enabling it to have cross-platform performance and effectively reducing development and maintenance costs.

[0069] A network communication method is constructed, and network communication is used to simulate real communication channels, specifically as follows:

[0070] A network communication method is constructed to interact with the control computer and simulation interface. Ethernet communication via network multicast is used to simulate non-network communication channels in real-world scenarios. This network communication method can effectively reduce the number of actual wiring harnesses and improve the ease of use and operability of this digital simulation method for unmanned underwater vehicle clusters.

[0071] Example

[0072] A digital simulation method for unmanned underwater vehicle swarms includes the following steps:

[0073] Step 1: Construct a simulation software architecture that can be used for collaborative simulation among multiple submarines;

[0074] Step 2: Construct a digital simulation method for unmanned underwater vehicle clusters that can be deployed on multiple operating systems;

[0075] Step 3: Construct a digital simulation method for unmanned underwater vehicle (UUV) swarms that can simulate underwater acoustic communication in multi-UUV collaborative simulation;

[0076] Step 4: Construct a digital simulation method for unmanned underwater vehicle clusters based on modular design, parameter display, information interaction, and network communication.

[0077] The multi-submarine collaborative simulation involves calling the required submarine threads across different processes. The running submarine communicates with each other via network communication to simulate underwater acoustic communication. The onboard virtual payload acoustic equipment encodes and decodes the transmitted and received data, then interacts with the corresponding control computer, thus simulating underwater acoustic communication between submarine vehicles. Furthermore, the constructed digital simulation method for unmanned underwater vehicle clusters can also simulate single-platform and multi-platform submarine vehicles, offering diverse application scenarios, effectively improving simulation efficiency, and giving this digital simulation method for unmanned underwater vehicle clusters good robustness.

[0078] The proposed digital simulation method for unmanned underwater vehicle clusters, which can be deployed on multiple operating systems, was designed, written, and developed in a cross-platform application development framework compilation environment to address the current trend of domestic development. This method overcomes various technical challenges, making it compatible with domestic operating systems, Linux operating systems, and Windows operating systems. It enables cross-platform performance, effectively adapts to future operating system changes, extends the life cycle of simulation software, and reduces development costs and maintenance complexity.

[0079] The simulated underwater acoustic communication is the encoding and decoding logic of the simulated payload acoustic device. For example... Figure 1 As shown, communication between underwater acoustic communication devices is simulated using network communication. The transmitted information is encoded and decoded to obtain the required information, which is then re-encoded and transmitted into the driver of the corresponding simulated acoustic payload. Finally, through interaction with the control computer, the function of transmitting information between multiple underwater vehicles is realized, i.e., simulating the underwater acoustic communication process between unmanned underwater vehicles. By simulating underwater acoustic communication scenarios, the relevant functions of unmanned underwater vehicles can be verified in advance, effectively improving the efficiency of future experiments.

[0080] Modular design is a method of decomposing a complex system into multiple independent, manageable modules, each responsible for a specific function of the system. For example... Figure 3As shown, this digital simulation method for unmanned underwater vehicle (UUV) swarms is divided into several modules: equipment driver and function module, digital hydrodynamic calculation module, data communication module, UUV module, and other auxiliary function modules. The equipment driver and function module mainly includes the navigation system, power system, and acoustic system equipment carried by the UUVs. The digital hydrodynamic calculation module includes hydrodynamic calculation units for different types of UUVs. The data communication module includes sub-modules for various communication methods. The UUV module is divided into individual UUV sub-modules. Each individual UUV is equipped with the required equipment sub-modules and corresponding hydrodynamic sub-modules from the equipment driver and function module, forming an individual UUV. Multiple individuals then form an UUV swarm. Other auxiliary function modules mainly include configuration file reading / writing sub-modules and interface information interaction sub-modules. Therefore, all these modules together constitute this digital simulation method for UUV swarms. The modular design of this simulation method offers advantages such as ease of functional expansion and modification, and high reusability.

[0081] The parameter display and information interaction, during the actual simulation process, involves formatting the required information about the unmanned underwater vehicle and its onboard equipment into a specific format, distinguishing them according to the designated underwater vehicle code, and then presenting the relevant important parameters on the simulation interface. The interface information interaction submodule is divided into a command receiving module, a status information uploading module, a track information uploading module, a boundary condition setting receiving module, and a wireless communication information uploading module. The command receiving module sends relevant commands once or cyclically through the selected wireless communication device via the simulation interface, and forwards them to the control computer through the relevant channel. This simulates the scenario of a real unmanned underwater vehicle (UUV) sending control commands through a shore-based wireless communication device, effectively verifying the control computer's feedback response function after receiving commands during the UUV's navigation and related tasks. The status information uploading module uploads the UUV's position information, attitude information, and the operating status information of its onboard equipment to the simulation interface for display. The track information uploading module uploads the UUV's latitude and longitude information to the simulation interface, displays it, and forms a track, facilitating timely and effective analysis of UUV navigation control algorithms, improving control debugging efficiency, and providing a better theoretical foundation for future real-world tests. The boundary condition setting receiving module receives equipment faults, status faults, and other fault information. Equipment faults include navigation system, power system, and other system equipment faults; status faults include attitude-related faults of the UUV during underwater tasks; and other faults include special emergency situations and changes in the underwater environment. During the simulation of boundary conditions, the required boundary conditions are fed back to the UAV control computer through relevant virtual communication links. This verifies the UAV's emergency handling methods for these boundary conditions, improves the efficiency of emergency handling of various unconventional scenarios encountered during actual navigation, and ensures the safety of the UAV. The wireless communication information upload module simulates the scenario where the real wireless communication device on the UAV uploads its own relevant status information to the shore-based support platform, thus verifying the UAV's wireless communication functions.

[0082] The network communication method is used for information interaction between the digital simulation method of unmanned underwater vehicle clusters and the control computer. In the real scenario, non-network communication channels are simulated using multicast Ethernet communication. This method effectively reduces the actual wiring harness connections and improves the ease of use and operability of the simulation software.

[0083] The simulation logic architecture of unmanned underwater vehicle clusters and the logic architecture of a single underwater vehicle are as follows: Figure 2 As shown, the unmanned underwater vehicle (UUV) swarm consists of no fewer than two vehicles, each performing a predetermined task. This improves the simulation efficiency of the UUV swarm, effectively reduces future testing costs, and provides comprehensive support and assurance for the real-world functional verification of the UUVs.

Claims

1. A digital simulation method applicable to unmanned underwater vehicle swarms, characterized in that, Includes the following steps: 1) Develop simulation software for collaboration among unmanned underwater vehicle swarms; 2) Construct all boundary conditions during the simulation operation of the unmanned underwater vehicle cluster, and verify the correctness of the unmanned underwater vehicle's handling methods and execution logic for different boundary scenarios by setting relevant boundary conditions; 3) Construct a digital hydrodynamic model of the unmanned underwater vehicle cluster simulation in the simulation software, simulate the interaction between the actual onboard equipment and the unmanned underwater vehicle, and upload the relevant parameters of the unmanned underwater vehicle to the simulation interface for display; 4) Read and write configuration file parameters and send relevant commands through the simulation interface using simulation software; 5) Designed and developed within a cross-platform application development framework, enabling the simulation software to be deployed on multiple operating systems and employing network communication to simulate real communication channels.

2. The digital simulation method for unmanned underwater vehicle swarms according to claim 1, characterized in that, Step 1) specifically refers to: A multi-process and multi-threaded parallel architecture is constructed. The required virtual unmanned underwater vehicles are invoked by designing an interface button trigger. When the digital simulation method of unmanned underwater vehicle cluster is deployed on different computers under the same local area network, the required virtual unmanned underwater vehicle processes are invoked respectively for collaborative simulation.

3. The digital simulation method for unmanned underwater vehicle swarms according to claim 2, characterized in that, The specific implementation method of the multi-process and multi-threaded parallel architecture is as follows: When simulating unmanned underwater vehicles and related functions, independent threads are created and run by calling the required threads. By calling the corresponding threads of the virtual underwater vehicle as needed, multiple functions of the unmanned underwater vehicle in digital form can be realized. When simulating a collaborative simulation scenario of multiple unmanned underwater vehicles, a multi-process approach is adopted, creating multiple independent processes. Each process simulates its corresponding unmanned underwater vehicle. Within each process, virtual payload acoustic devices are used for information transmission and reception coordination, while information exchange between processes is achieved through local area network communication.

4. The digital simulation method for unmanned underwater vehicle swarms according to claim 1, characterized in that, Step 2) specifically refers to: By setting different faults and boundary conditions through the simulation interface, the required fault modes and UAV numbers are configured into the simulation software. The simulation software generates fault information based on the real equipment or operating conditions and feeds it back to the control computer through the virtualized communication link according to the protocol interface of the real equipment, thus verifying whether the UAV's handling method and execution logic for this boundary scenario are correct.

5. A digital simulation method for unmanned underwater vehicle swarms according to claim 4, characterized in that, The fault modes corresponding to the boundary conditions include: equipment faults, condition faults, and other faults. The simulation process for different fault modes is as follows: For equipment failure simulation, all failure modes of the actual equipment carried by the unmanned underwater vehicle are simulated, and relevant failure information of the corresponding equipment is sent to the control computer. For state failure simulation, unconventional state information is simulated using the navigation system equipment onboard the unmanned underwater vehicle, and corresponding state failure information is sent to the control computer. For other fault simulations, relevant emergency scenarios and changes in the underwater environment are simulated and transmitted to the control computer via a virtual communication link.

6. The digital simulation method for unmanned underwater vehicle swarms according to claim 1, characterized in that, Step 3) specifically refers to: A digital hydrodynamic model of an unmanned underwater vehicle (UUV) is constructed using a modular design approach. Various devices carried by the UUV are modularly packaged, and relevant modules are added or removed for different UUVs. During the simulation process that simulates a real environment, relevant information from the solution of the digital hydrodynamic model of the unmanned underwater vehicle and equipment status information are uploaded to the simulation interface.

7. The digital simulation method for unmanned underwater vehicle swarms according to claim 1, characterized in that, Step 4) specifically refers to: The system reads and writes the initial information of the cluster submarine and the configuration information of the onboard equipment through the configuration file. At the same time, it sets and modifies the relevant parameters in the configuration file through the simulation interface. After the simulation software successfully reads the configuration file during the startup process, it initializes the relevant parameters of the process and thread according to the configuration information. By receiving special scenario commands from the simulation interface and transmitting them to the control computer, the scenario of information interaction between shore-based wireless communication equipment and clustered underwater vehicles is simulated, verifying the function of the control computer in responding to commands received by the unmanned underwater vehicle during navigation and the execution of related tasks.

8. A digital simulation method for unmanned underwater vehicle swarms according to claim 1, characterized in that, The method of simulating real communication channels using network communication specifically includes: The digital simulation software uses network communication methods to interact with the control computer and simulation interface, and uses Ethernet communication via network multicast to simulate non-network communication channels in real-world scenarios.

Images