Design of simulation experiment platform based on unmanned surface-aerial vehicles collaboration

For the complex unmanned system sea-air cross-domain cooperative operation tasks, the experimental cost for realistic site testing is high, the experimental cycle is long, and there is a safety risk, and it is difficult to realize the cross-domain cooperation by only relying on the unmanned surface vehicle (USV)simulation platform or the unmanned aerial vehicle (UAV) simulation platform. Based on this, a simulation experiment platform for unmanned surface-aerial vehicles cross-domain collaboration is designed by integrating three-dimensional marine environment modeling and unmanned surface-aerial vehicles motion control framework. The platform realizes motion simulation based on a 3D physical simulation engine, which can support the six-degree-of-freedom motion of the USV and the UAV; data interaction between the USV and the UAV is realized by constructing a communication node; and the target detection algorithm is embedded into the vision module of the UAV, which is used to assist in detecting whether the target appears or not. Through the designed simulation experiments, the coordinated interception of targets by USV and UAV in the sea-air cross-domain scene is successfully simulated, which verifies the effectiveness of the designed simulation experimental platform.