面向无人水面艇操纵性评估的海洋机器人Unity仿真器中可追溯虚拟海试
Traceable Virtual Sea Trials in the Marine Robotics Unity Simulator for Manoeuvring Assessment of Unmanned Surface Vehicles
AI总结：
针对USV水动力导数辨识数据获取难的问题，在MARUS仿真器中建立标准化虚拟海试框架，通过TC/ZZ机动自动化执行、数据采集与后处理管道，生成符合IMO/ITTC指标的可重复数据集，案例验证了框架的有效性。
摘要：
精确识别水动力导数对于无人水面艇（USV）的控制与导航至关重要，但物理海试的高保真操纵数据受成本和安全性限制。回转试验（TC）和Z形试验（ZZ）仍是IMO和ITTC评估程序的基础。本文扩展了海洋机器人Unity仿真器（MARUS），引入标准化虚拟海试框架，用于TC/ZZ机动的自动化执行和数据生成，包括可追溯的命令-执行日志记录、面向系统辨识（SI）的数据调理以及自动提取符合IMO/ITTC的操纵性指标。一个关键贡献是专用的TC/ZZ数据采集和后处理管道，提高了基于仿真的机动的可重复性和可审计性，同时生成适用于水动力导数辨识和数字孪生工作流的SI就绪数据集。另一个特点是差动推力转向的显式命令-执行分离，其中输入记录为有序的等效舵命令，而实际执行则记录为基于施加推力的执行级代理。案例研究结果表明了可重复且合规的机动行为。对于TC试验，左舷和右舷之间的归一化进距差异约为3.9%，战术直径差异约为4.6%至4.7%。对于ZZ试验，±10度和±20度机动下的第一和第二超越角超调量均保持在1度以下，满足IMO标准，而峰值偏航速率约为4.1至5.8度/秒。总体而言，该框架提供了一种可重复且可审计的虚拟海试工作流，用于生成符合IMO/ITTC的数据集，并支持系统辨识、水动力导数估计和数字孪生校准。
英文摘要：
Accurate identification of hydrodynamic derivatives is essential for precise control and autonomous navigation of Unmanned Surface Vehicles (USVs). However, acquiring high-fidelity manoeuvring data from physical sea trials is often constrained by cost, safety, and environmental disturbances. Standard manoeuvring trials, particularly Turning Circle (TC) and Zig-Zag (ZZ), remain fundamental to IMO and ITTC assessment procedures because they provide comparable performance metrics reflective of underlying hydrodynamic behaviour. This paper extends the open-source Marine Robotics Unity Simulator (MARUS) by introducing a standardised Virtual Sea Trial framework for automated execution and data generation of TC/ZZ manoeuvres. The framework provides traceable command-actuation logging, system-identification (SI)-focused data conditioning, and automated extraction of IMO/ITTC-aligned manoeuvring metrics. A key contribution is a dedicated TC/ZZ data acquisition and post-processing pipeline, improving the repeatability and auditability of simulator-based manoeuvres while producing SI-ready datasets for hydrodynamic-derivative identification and digital-twin workflows. The framework also provides explicit command-execution separation for differential-thrust steering, where manoeuvre inputs are recorded as ordered rudder-equivalent commands and realised actuation is logged as an execution-level proxy derived from applied thrust. Case study results demonstrate repeatable and IMO-compliant manoeuvre behaviour. For TC tests, the normalised advance differs by approximately 3.9% between port and starboard turns, while the tactical diameter differs by 4.6-4.7%. For ZZ tests, first and second overshoot excesses remain below 1 degree for both +/-10-degree and +/-20-degree manoeuvres, satisfying IMO criteria, while peak yaw rates range from approximately 4.1 to 5.8 degrees/second.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
