Design and Implementation of Semi-physical Simulation System for Autonomous Recovery of Unmanned Underwater Vehicles

Aiming at single tool that cannot realize the autonomous recycling simulation of unmanned underwater vehicles involving the complex multi-domain systems, a semi-physical simulation system is designed based on the open platform communications - unified architecture (OPC UA) to achieve system-level joint simulation, and then key technologies have been fully verified in advance. This article innovatively proposes the simulation system architecture based on the OPC UA protocol, which effectively integrates real-time simulation system, 3D visual simulation system, identification and positioning system, and control decision-making system involved in autonomous recycling tasks, significantly reducing the coupling of the semi-physical simulation system. In addition, in order to ensure the efficient and stable recovery of unmanned underwater vehicles, a triple collaborative guidance scheme based on guide-lights and nested-apriltag was proposed. Finally, the full-process simulation test of the independent recycling task was conducted through the proposed simulation system, which verified the feasibility of the semi -physical simulation system and the collaborative guidance scheme.