Accurate identification of hydrodynamic derivatives is essential for precise control and autonomous navigation of Unmanned Surface Vehicles (USVs). However, acquiring high-fidelity manoeuvring data from physical sea trials is often constrained by cost, safety, and environmental disturbances. Standard manoeuvring trials, particularly Turning Circle (TC) and Zig-Zag (ZZ), remain fundamental to IMO and ITTC assessment procedures because they provide comparable performance metrics reflective of underlying hydrodynamic behaviour. This paper extends the open-source Marine Robotics Unity Simulator (MARUS) by introducing a standardised Virtual Sea Trial framework for automated execution and data generation of TC/ZZ manoeuvres. The framework provides traceable command-actuation logging, system-identification (SI)-focused data conditioning, and automated extraction of IMO/ITTC-aligned manoeuvring metrics. A key contribution is a dedicated TC/ZZ data acquisition and post-processing pipeline, improving the repeatability and auditability of simulator-based manoeuvres while producing SI-ready datasets for hydrodynamic-derivative identification and digital-twin workflows. The framework also provides explicit command-execution separation for differential-thrust steering, where manoeuvre inputs are recorded as ordered rudder-equivalent commands and realised actuation is logged as an execution-level proxy derived from applied thrust. Case study results demonstrate repeatable and IMO-compliant manoeuvre behaviour. For TC tests, the normalised advance differs by approximately 3.9% between port and starboard turns, while the tactical diameter differs by 4.6-4.7%. For ZZ tests, first and second overshoot excesses remain below 1 degree for both +/-10-degree and +/-20-degree manoeuvres, satisfying IMO criteria, while peak yaw rates range from approximately 4.1 to 5.8 degrees/second.

翻译：精确识别水动力导数对于无人水面艇（USVs）的精准控制与自主导航至关重要。然而，从物理海试中获取高保真度操纵数据常受制于成本、安全及环境干扰等因素。标准操纵试验——特别是回转试验（TC）与Z形试验（ZZ）——仍是国际海事组织（IMO）与国际拖曳水池会议（ITTC）评估程序的核心，因其能提供反映底层水动力学行为的可比性能指标。本文通过引入标准化虚拟海试框架，对开源海洋机器人Unity仿真器（MARUS）进行扩展，实现TC/ZZ操纵的自动化执行与数据生成。该框架提供可溯源的指令-执行日志记录、面向系统辨识（SI）的数据调理，以及IMO/ITTC合规操纵性能指标的自动提取。核心贡献在于专用的TC/ZZ数据采集与后处理管线，该管线在提升基于仿真器的操纵可重复性与可审计性的同时，生成适配SI的水动力导数辨识与数字孪生工作流数据集。框架同时为差动推力转向提供明确的指令-执行分离机制：操纵输入记录为有序的等效舵令，实际执行动作则记录为基于施加推力推导的执行级代理量。案例研究结果表明操纵行为具有可重复性且符合IMO标准。在TC试验中，左舷与右舷回转的归一化进距差异约3.9%，战术直径差异为4.6-4.7%；在ZZ试验中，±10度与±20度操纵的首个及第二个超越角均低于1度，满足IMO准则，而峰值偏航角速度范围约为4.1至5.8度/秒。