用虚拟海试提升无人船操控评估精度，数据可追溯且符合国际标准。
Traceable Virtual Sea Trials in the Marine Robotics Unity Simulator for Manoeuvring Assessment of Unmanned Surface Vehicles
- 构建标准化虚拟海试框架，自动执行转弯与之字航行试验。
- 转舵测试中左右转向距离差异仅3.9%，战术直径误差4.6-4.7%。
- 生成可直接用于系统辨识的高质量数据，适合数字孪生与算法验证。
精确识别水动力导数对无人水面艇（USVs）的精准控制与自主导航至关重要。然而，物理海试受成本、安全及环境干扰限制，难以获取高保真操纵数据。标准操纵试验（如回转试验TC与之字航行试验ZZ）仍是国际海事组织（IMO）和国际船舶与海洋工程协会（ITTC）评估的核心方法，因其能反映底层水动力特性。本文扩展开源海洋机器人Unity仿真器（MARUS），引入标准化虚拟海试框架，实现TC/ZZ试验的自动化执行与数据生成。该框架提供可追溯的指令-执行日志、面向系统辨识（SI）的数据预处理，以及自动提取符合IMO/ITTC标准的操纵性能指标。关键贡献在于专用的TC/ZZ数据采集与后处理流程，显著提升仿真试验的可重复性与可审计性，生成可用于水动力导数识别与数字孪生工作流的高质量数据集。框架还明确区分差速推力转向中的指令与实际执行：操纵输入以等效舵角命令记录，执行动作则通过施加推力计算的代理信号日志。案例研究显示结果具备可重复性且满足IMO标准：回转试验中，左右转向正常前进距离差异约3.9%，战术直径差异为4.6–4.7%；之字航行试验中，±10°与±20°操纵下首次及二次偏航超限均低于1度，峰值偏航速率在4.1至5.8度/秒之间。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。