无人艇航行仿真关键技术研究  

Research on USV Navigation Simulation Key Technologies

作　　者：金建海[1] 周则兴 张波[1] 陈奕宏[1] 韦喜忠[1] Jianhai;Zhou Zexing;Zhang Bo;Chen Yihong;Wei Xizhong(China Ship Scientific Research Center,Wuxi 214082,China)

机构地区：[1]中国船舶科学研究中心,江苏无锡214082

出　　处：《系统仿真学报》2021年第12期2846-2853,共8页Journal of System Simulation

摘　　要：针对无人艇实船试验时间长、成本大、风险高等问题,开展了面向无人艇自主航行的仿真系统研发,解决了无人艇航行相关的复杂场景模拟、智能感知、运动仿真、环境效应建模等关键仿真技术难点,自主完成了无人艇动力学方程、运动学方程、风载荷模型、波浪漂移力模型、海流模型的设计与实现。通过湖上实船试验,证明该仿真系统具有较高的准确度和逼真度,可大幅提升无人艇自主航行等智能模块的开发效率,降低试验成本。In order to solve the problems of long test time,high cost and high risk,a general framework of simulation system for autonomous navigation test and verification of USV(Unmanned Surface Vessel)has been developed,and some key simulation technologies such as complex scenario simulation,intelligent perception,navigation simulation and environmental effect modeling are researched.the dynamic equation,kinematics equation,wind load modeling,wave surface modeling,wave drift force modeling and ocean current modeling are designed and realized.The simulation system is proved to have high accuracy and fidelity by the real ship test on the lake,which can greatly improve the development efficiency of autonomous navigation and other intelligent modules of USV.

关 键 词：无人艇 场景模拟 运动仿真 波浪模拟 环境效应建模 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]