基于实航数据的定常海流动力学模型验证评估

Verification and Evaluation of Constant Current Dynamic Model Base on Trial Data

摘要:

水面水下无人系统的运动控制、航路规划算法设计和仿真中均需要考虑海流影响，定常海流动力学模型应用最为广泛。该模型基于流体力学原理简化推导得到，缺乏验证试验支撑其可信度和准确度。针对这一问题，设计了一种验证试验。试验中记录海流信息和无人潜航器多个航向的实航试验数据，同时设计具有与实航试验相同海流工况的半实物仿真对比试验。最后将实航数据与半实物仿真试验数据对比，对定常海流动力学模型的准确性进行了评估。

关键词:海流;动力学模型;实航数据;半实物仿真;验证评估

Abstract:

The motion control，path planning algorithm design and simulation of the USV/UUV system need to consider the effect of the current，and the constant current dynamic model has been widely used. This model is derived through simplified hydrodynamic principle，but there is rare verifying trial to support its reliability and accuracy. This paper has designed a verification trial to solve this problem. During the trial，the ocean current data and UUV trial data on several headings have been recorded，the comparing hardware-in-the-loop simulations under the same ocean current have been done. The trial data and simulation data have been compared finally，and the conclusion on the accuracy of the constant current model have been presented.

Key words:ocean current;dynamic model;trail data;hardware-in-the-loop simulation;verification and evaluation.