Research On Test And Evaluation Technology Of Autonomous Navigation Ability Of Unmanned Ship

The autonomous navigation ability of unmanned ships is the core embodiment of the intelligent level of ships.The scientific and perfect test and evaluation system of autonomous navigation ability is the basis for improving the intelligent level and autonomous performance of unmanned ships,establishing and perfecting technical standards,laws and regulations,and promoting the innovative development of intelligent shipping and intelligent marine industries.At present,the research on the key technology of autonomous navigation of unmanned ships is still in the development stage,and the research on the test and evaluation technology of autonomous navigation ability of unmanned ships,related norms and theoretical methods at home and abroad is still in the exploration stage.In order to accelerate the R&D efficiency and market application of unmanned ships,build a green and sustainable shipbuilding industry and shipping market,and enhance the credibility and engineering feasibility of unmanned system equipment,autonomous navigation technology test of unmanned ships will become a key link in the intelligent shipbuilding industry.To solve urgent problems in the test and evaluation of autonomous navigation ability of unmanned ships,and improve the autonomous navigation ability and intelligence level of unmanned ships,the research on autonomous navigation test and evaluation technology is carried out in this paper.The main research contents are as follows:(1)In view of the difficulties in the actual test of autonomous navigation of unmanned ships at sea,a test method of autonomous navigation ability of unmanned ships based on parallel system theory is proposed.This method is a virtual test method,which simulates the autonomous navigation of the unmanned ship and the ocean environment,and tests the autonomous navigation ability of the unmanned ship at the level of autonomous navigation algorithm.In terms of test scenes,ocean scenes are divided into 6 types of scenes or models according to navigation impact effects,such as ordinary waters,meteorological sea conditions,visibility,restricted waters and traffic flow.On this basis,generalized set and distribution function are introduced,and a computational model of scene complexity is proposed.(2)For the test tasks of autonomous navigation of unmanned ships,a test task design framework is proposed for the purposes of sensing recognition,path planning,navigation control and collision avoidance decision ability,which correspond to the basic test tasks under low complexity and the advanced test tasks under high complexity respectively.And the basic test tasks are detailed task design,evaluation index selection,index definition,index calculation and index consistency processing.(3)For the evaluation of the autonomous navigation ability of unmanned ships,the evaluation index system model of the autonomous navigation ability of unmanned ships is proposed based on the Analytic Hierarchy Process(AHP),and the consistency processing problem of the analytic hierarchy process in the index weight calculation process is improved;The fuzzy comprehensive evaluation method is introduced to solve the problem of multi-index comprehensive evaluation by adopting the quantitative thought of qualitative problems,and the cloud model algorithm is adopted to improve the randomness and fuzziness of the evaluation indexes in the fuzzy comprehensive evaluation method,which makes the evaluation results more objective.Finally,on the basis of above research,a set of autonomous navigation ability test system for unmanned ships is designed and set up.The 3T "Lan Xin" high-speed unmanned surface vehicle as support for experiment,combining autonomous navigation control test tasks and evaluation index,the three different kinds of course control algorithms and track control algorithms were tested and evaluated.The results are carried out to prove the validity of the test methods and evaluation algorithm.The theoretical basis and the realization way of technical application for the autonomous navigation test and evaluation of unmanned ships are provided in this paper.