CN-121977523-A - Underwater multi-source main navigation digital twin and semi-physical simulation test system and method

CN121977523ACN 121977523 ACN121977523 ACN 121977523ACN-121977523-A

Abstract

The underwater multi-source main navigation digital twin and semi-physical simulation test system and method are suitable for multi-source main navigation system development and algorithm verification of underwater unmanned platforms such as unmanned underwater vehicles. The system adopts a semi-physical simulation architecture, combines a physical Inertial Measurement Unit (IMU), a three-axis turntable and a computer simulation module, and realizes signal simulation, motion scene simulation, sensor error and environmental noise injection, multi-source navigation information fusion and precision evaluation of sensors such as an inertial navigation system, a Doppler log, an ultra-short baseline positioning system, a satellite navigation system and the like. The platform has simulation capability of two typical underwater scenes of mooring and movement, supports verification of various combined navigation modes, can simulate complex underwater acoustic environments such as Gaussian and non-Gaussian noise, abnormal wild values and the like, and provides a semi-physical simulation verification environment with high reliability and high precision for development and completeness evaluation of underwater multi-source main navigation algorithm.

Inventors

Nan Zihan
MENG FANCHEN
ZHOU RUIYANG
ZHANG YUFEI
GAO ZHIQIANG
YAO YIQING
Liu Shede

Assignees

北京航天控制仪器研究所

Dates

Publication Date: 20260505
Application Date: 20251218

Claims (10)

1. The underwater multisource dominant digital twin and semi-physical simulation test system is characterized by comprising: The hardware-in-the-loop simulation module comprises physical hardware and a navigation solution evaluation module, wherein the physical hardware is used for generating true value measurement information of carrier inertial navigation, and comprises a three-axis rotating turntable used for simulating carrier motion gestures and an inertial measurement unit mounted on the three-axis rotating turntable and used for measuring carrier gesture, speed and position information, the three-axis rotating turntable realizes carrier motion gesture simulation through rotation, and the inertial measurement unit sends acquired carrier inertial navigation true value measurement information to the navigation solution evaluation module; The digital simulation module is in communication coupling with the hardware-in-loop simulation module and the navigation resolving evaluation module, and is used for generating analog measurement signals of the Doppler log, the ultra-short baseline and the global navigation satellite system and sending the analog measurement signals to the error environmental effect simulation module, and is used for constructing a sensor signal simulation model, sensor signal simulation generation and motion scene simulation; The navigation resolving evaluation module is in communication coupling with the digital simulation module, the hardware-in-the-loop simulation module and the error environmental effect simulation module and is used for sending a navigation resolving evaluation module instruction to the error environmental effect simulation module, receiving the carrier inertial navigation truth value measurement information, the carrier motion state and track information and the simulated measurement signal after error injection, running a multi-source information fusion navigation algorithm, and verifying and evaluating the performance of the navigation algorithm by taking the continuous kinematic truth value as a reference; The motion scene simulation module is used for configuring a continuous kinematic true value including real-time position, speed and gesture information of the carrier in a mooring state or a sailing state on the basis of the gesture provided by the hardware loop simulation module according to the instruction of the navigation calculation evaluation module, generating the motion state and track information including the real-time position, speed and gesture information true value of the carrier in a simulation mode, and transmitting the continuous kinematic true value, the motion state and the track information to the navigation calculation evaluation module; And the error environmental effect simulation module is used for injecting preset errors and noise into the analog measurement signals generated by the digital simulation module according to the errors and noise, and sending the analog measurement signals after error injection to the navigation resolving evaluation module for simulating and simulating to generate sensor and environmental error characteristics.
2. The underwater multisource dominant digital twin and semi-physical simulation test system according to claim 1, wherein the error environmental effect simulation module is used for simulating various mixed probability model error types including sensor installation errors, acoustic velocity measurement errors, acoustic ranging errors and satellite positioning errors, and can inject noise models including outliers, gaussian distribution and non-gaussian distribution, wherein for acoustic measurement information, the mixed probability model is used for simulating a non-gaussian noise environment containing outliers.
3. The underwater multisource dominant digital twin and semi-physical simulation test system of claim 2, wherein the measured noise is Wherein, the method comprises the steps of, Representing the characteristics of the acoustic noise of the device, Representing probability, i.e. the measurement information has The probability of occurrence variance of (1) is 10 times or more the normal value, Is in the form of normal distribution, Is a noise covariance matrix.
4. The underwater multisource pilot digital twin and semi-physical simulation test system according to claim 1, wherein the digital simulation module simulates DVL speed information of a sailing state, calculates three-axis speed and four-beam speed according to continuous kinematic true values provided by the motion scene simulation module, simulates speed information under DVL b system and four-channel d system speed information, respectively, as follows 、 , wherein, A directional cosine matrix representing the carrier to doppler log equipment, A directional cosine matrix representing the navigation system to the carrier system, Representing the carrier velocity information measured by the inertial measurement unit in the navigation system.
5. The underwater multi-source main navigation digital twin and semi-physical simulation test system according to claim 1 is characterized in that the motion scene simulation module is further used for simulation test of two typical scenes of a mooring state and a sailing state, in the mooring state, the carrier position is fixed, zero speed and shaking base conditions are simulated, in the sailing state, continuously-changing carrier gesture, speed and position true values are generated according to preset track points and dynamics models, and the simulation of the whole process is driven.
6. The underwater multi-source main navigation digital twin and semi-physical simulation test system according to claim 1, wherein the digital simulation module simulates USBL slant distance and azimuth angle information of navigation state, and according to real-time position and posture truth value of carrier provided by the motion scene simulation module, the ultra-short baseline transponder position point is simulated and set, the ultra-short slant distance and azimuth angle measurement information is calculated and output dynamically through a multi-coordinate system conversion chain, and the ultra-short slant distance and azimuth angle measurement information is obtained in the earth coordinate system through the conversion relation from a spherical coordinate system to a rectangular coordinate system Relative position vector of the tie down The transponder is in an acoustic matrix coordinate system The relative position vector under the system is The transponder is obtained by coordinate transformation Relative position vector in a train Relative position vector of transponder The relation between azimuth angle and skew is that Wherein, the method comprises the steps of, 、 Respectively the projection angles of the directions of the transponders in planes perpendicular to the x axis and the y axis, For the distance of the carrier to the transponder, For a rotation matrix from the carrier coordinate system to the acoustic matrix coordinate system, For a rotation matrix from the navigation coordinate system to the carrier coordinate system, Is a rotation matrix from the earth coordinate system to the navigation coordinate system.
7. The underwater multi-source main navigation digital twin and semi-physical simulation test system according to claim 1 is characterized in that data interaction is carried out between the digital simulation module and the navigation resolving evaluation module through a user datagram protocol network to form a distributed simulation framework, and the digital simulation module unidirectionally sends multi-channel parallel analog sensor data streams to the navigation resolving evaluation module and simultaneously receives control instructions from the navigation resolving evaluation module so as to realize dynamic management and scene switching of a simulation process.
8. The underwater multi-source dominant digital twin and semi-physical simulation test system according to claim 1, wherein the navigation solution evaluation module supports a plurality of reconfigurable navigation modes, including a pure inertial navigation mode, an inertial/DVL loose combined navigation mode, an inertial/DVL tight combined navigation mode, an inertial/USBL loose combined navigation mode and an inertial/USBL tight combined navigation mode, and supports dynamic switching between different modes to adapt to different simulation test phases and scenes of external information changes.
9. A simulation test method implemented by using the underwater multisource pilot digital twin and semi-physical simulation test system according to any one of claims 1 to 8, which is characterized by comprising: The triaxial rotary turntable realizes carrier motion attitude simulation through rotation; the inertial measurement unit sends the acquired real value measurement information of the inertial navigation of the carrier to the navigation resolving and evaluating module; The digital simulation module generates analog measurement signals of the Doppler log, the ultra-short baseline and the global navigation satellite system and sends the analog measurement signals to the error environmental effect simulation module; The navigation resolving evaluation module sends a navigation resolving evaluation module instruction and a motion scene simulation instruction to the error environmental effect simulation module and the motion scene simulation module respectively; The motion scene simulation module is configured based on preset track points and motion states according to motion scene simulation instructions, and is used for calculating and generating continuous kinematic true values of the carrier including real-time position, speed and gesture information under a geodetic coordinate system in a mooring state or a sailing state in carrier motion gesture simulation, generating motion state and track information of the carrier including real-time position, speed and gesture information true values in a simulation mode, and transmitting the continuous kinematic true values, the motion state and track information to the navigation calculation evaluation module; The error environmental effect simulation module injects preset errors and noise into the analog measurement signals generated by the digital simulation module, and sends the analog measurement signals after error injection to the navigation resolving evaluation module; The navigation solution evaluation module receives the carrier inertial navigation true value measurement information, the carrier motion state and track information, and the simulated measurement signal after error injection, runs the multi-source information fusion navigation algorithm, and verifies and evaluates the performance of the navigation algorithm based on the continuous kinematic true value.
10. A computer readable storage medium storing a computer program, which when executed by a processor performs the steps of the method according to claim 9.

Description

Underwater multi-source main navigation digital twin and semi-physical simulation test system and method Technical Field The invention relates to an underwater multi-source main navigation digital twin and semi-physical simulation test system and method, and belongs to the technical field of navigation, guidance and control. Background In recent years, the technology of an underwater unmanned platform rapidly develops, and plays an increasingly important role in executing various ocean exploration tasks. The underwater navigation positioning is an indispensable key technology for developing ocean resources and constructing ocean China, and the underwater accurate and reliable autonomous navigation is a key for completing various tasks by an underwater unmanned system. At present, the underwater multi-source main navigation technology is a key technology for realizing underwater high-precision long-endurance autonomous navigation positioning, and a multi-source fusion navigation scheme which takes an inertial navigation system as a core and fuses a Doppler log, an ultra-short baseline acoustic positioning system, a global satellite navigation system and other sensors is generally adopted. However, practical development and verification of an underwater multi-source pilot system faces great challenges that real underwater test is high in cost, long in period, uncontrollable in environment and difficult to reproduce extreme or fault conditions, that pure digital simulation cannot fully simulate physical characteristics, dynamic response and complex carrier-environment interaction of a real sensor, that underwater environments are complex and diverse, that acoustic signals are easily interfered by multipath effects, noise and abnormal outliers, and that non-gaussian and non-stable error characteristics exist and are difficult to simulate in a laboratory environment. At present, the advanced scheme of the underwater navigation system adopts a scheme of information fusion of multisource sensors, such as an inertial navigation system serving as a core and a Doppler log, an ultra-short baseline positioning system, a global navigation satellite system and the like. However, in the actual system development and test process, the problems that the actual test cost is high, the period is long, the underwater test environment is complex and uncontrollable, the deployment and recovery cost of test equipment is high, frequent development is difficult, the problems that sensor faults, signal loss, abnormal noise and the like are difficult to reproduce and control in the actual test are difficult to solve under extreme working conditions, the actual problems that a real sensor cannot be simulated by pure digital simulation, such as physical characteristics, dynamic response and time sequence delay, are difficult to simulate, the environment noise modeling is insufficient, underwater acoustic signals are easy to be interfered by multipath effects, non-Gaussian noise and wild values, the existing simulation platform is mostly assumed to be Gaussian noise, and complex statistical characteristics of the actual underwater environment are difficult to reflect are solved. Meanwhile, the existing patent has the defects of focusing on a certain or a few sensor assembly modes, lacking the unified simulation and fusion verification capability of a multi-source heterogeneous sensor, lacking the complete closed loop simulation capability from sensor bottom layer signal generation, motion scene simulation to environmental noise injection, failing to support the simulation of complex underwater acoustic environments such as non-Gaussian noise, abnormal wild values and the like by a system, lacking the flexibility of a true architecture, and being difficult to support the dynamic switching and online evaluation of a plurality of navigation modes. Disclosure of Invention The invention solves the technical problems of overcoming the defects of the prior art, providing an underwater multi-source main navigation digital twin and semi-physical simulation test system and a method thereof, and providing a high-reliability and high-fidelity simulation verification environment and method for an underwater unmanned platform multi-source main navigation system. The technical scheme of the invention is that the underwater multi-source main navigation digital twin and semi-physical simulation test system comprises: The hardware-in-the-loop simulation module comprises physical hardware and a navigation solution evaluation module, wherein the physical hardware is used for generating true value measurement information of carrier inertial navigation, and comprises a three-axis rotating turntable used for simulating carrier motion gestures and an inertial measurement unit mounted on the three-axis rotating turntable and used for measuring carrier gesture, speed and position information, the three-axis rotating turntable realizes carrier motion gesture simul