Research On Distributed Simulation And Communication Of USV

This subject focuses on the intelligent, high-speed unmanned surface vehicle, originated from the foundation of Harbin Engineering University. This subject studies on unmanned surface vehicle of the Underwater Robot Lab of Harbin Engineering University, establishes the distributed simulation platform of USV, and especially makes a further research on the communication module of the distributed simulation. The research purpose of this subject is to establish a full digital and distributed simulation platform for the USV.One of the emphases is the design of the software simulation model of the USV. In order to improve the reliability and maintainability, solve the problem of the modularization and reuse of the software model. The object-oriented technique and Unified Modeling Language (UML) are applied to model and design the simulation system furthermore to make it convenient for the function extension and improvement of the system and with good inheritance. The current object-oriented method is adopted to design the simulation system. The C++ language adopted as the development language and Visual C++ as the development tool.The main point of the paper is to develop three software of the distributed simulation system: UsvClient, as the simulation machine of USV; GroundServer, as the surveillance control center; DisSim, as the three-dimensional display simulation machine.The UsvClient implements the calculation of the mathematical model, the control law model of the USV, the Object-oriented technique and design pattern is applied to separate the process between the GUI and the transaction, also the concept about simulation manager is proposed.The GroundServer adopts the proactor pattern, in which the ACE's proactor is encapsulated in WINDOWS for completion port, realizes two network interface classes: IServerSocect and IClientSocket and makes it receive multi-connection and process the data communication between multi-UsvClient. This design also provides a good condition for the multi-USV distributed simulation systems.The DisSim is three-dimensional display system which is developed with the Vega and OpenGL, the main development tool of Visual Simulation. It's based on the network communication module of ACE.UsvClient is applied successfully to connect with GroundServer and DisSim, and the simulation results are good enough to satisfy the requirement which is expected by USV distributed simulation and communication. This system has good stability and reliability and the real-time requirements can be met easily. Furthermore, the system has friendly interface and the feasibility that introduces ACE into USV distributed simulation system can be verified. Therefore, this system has some practical values.