【摘要】 针对聚焦无人帆船电控系统的潜在漏洞，设计一种低成本的无人帆船半物理仿真测试系统。利用真实试验、假设或平台自身搭载传感器数据，验证特定工况下无人帆船下位机运行逻辑及硬件执行机构运行状况。为实际工程应用之前解决潜在漏洞提供参考方案。系统由现有“海鸥”号无人帆船电控系统及Python搭建上位机构成，以约定通信命令协议进行上下位机通讯。支持固定格式配置文件及测试数据文件，通过编写文件内容设计测试工况、流程及内容。基于“海鸥”号无人帆船已有海试数据，已验证不同工况无人帆船定向、定点及轨迹跟踪运行逻辑。该系统成本低、测试方式灵活、测试环境要求低及无需额外购置设备，在实际工程中具有可观的应用场景。更多还原

【Abstract】 Focusing on some potential vulnerabilities of the electronic control system of unmanned sailboats,a low-cost semiphysical simulation test system for unmanned sailboats was designed. Using real test data,hypothetical data or the sensor data carried by the platform itself,the operation logic and the operating status of the hardware actuator of the unmanned sailboat under specific working conditions are verified. It provides a reference scheme for solving potential vulnerabilities before practical engineering application.The system is composed of the existing“Seagull”unmanned sailboat electronic control system and Python to build a host mechanism,and the communication between the upper and lower computers is carried out by the agreed communication command protocol. Support fixed format configuration files and test data files,and design test conditions,processes and contents by writing file content. Based on the sea trial data of the“Seagull”unmanned sailboat,the orientation,fixed point and trajectory tracking operation logic of the unmanned sailboat under different working conditions have been verified. The system has low cost,flexible test methods,low test environment requirements and no need to purchase additional equipment,which has considerable application scenarios in actual engineering.更多还原