Research on USV Navigation Simulation Key Technologies

doi:10.16182/j.issn1004731x.joss.21-FZ0880

Abstract

Abstract: 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.

Key words: USV, scenario simulation, motion simulation, wave modeling, environmental effect modeling

CLC Number:

TP24
TP391.9

Jin Jianhai, Zhou Zexing, Zhang Bo, Chen Yihong, Wei Xizhong. Research on USV Navigation Simulation Key Technologies[J]. Journal of System Simulation, 2021, 33(12): 2846-2853.

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