关键词: 无人帆船； 半物理仿真； 轨迹跟踪； 无人帆船定点 ,

Abstract:  Focusing on some potential vulnerabilities of the electronic control system of unmanned sailboats， a low-cost semi-physical 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.

Key words: unmanned sailboat, semi-physical simulation, trajectory tracking, unmanned sailboat positioning