Construction Method of Digital Twin USV Capability Model

Abstract

As an important enabling technology to realize advanced concepts such as digitization, intelligence and service, digital twin has attracted the attention of academia and industry. There are few relevant research in the field of USV, and how to implement the application is the focus of attention. Through the research on the software and hardware architecture of USV, this paper constructs the capability model of digital twin USV (hereinafter referred to as capability model), including kinetic model, load model and decision service, and modifies the model combined with real data. In order to verify the practicability of the capability model, a dynamic obstacle avoidance scene is constructed, and the data interaction between scene and model is realized. The capability and algorithm verification of the capability model in the scene are completed with the planning control software. The results show that the digital twin capability model has a certain reference significance for the simulation and verification of the algorithm and navigation control accuracy of USV.