ABSTRACT For contingencies occurring in a complex marine environment, Unmanned Surface Vehicle (USV) has to recognize the situation and decide behaviors, and plan the following actions through the Integrated Mission Planning Process. Therefore, researches are actively being carried out about it. However, since it is difficult to test the actual USV with the mission planning process, it is necessary to develop a virtual experimental environment based on Modeling&Simulation (M&S). In this study, we developed an integrated simulation environment capable of simulating and analyzing the overall mission of USV. In Part I, we modelled the USV Integrated Mission Planning Process and in Part II, we developed an experimental framework and interface for loading them. In addition, we verified the suitability of this model through scenarios and defined the Mission of Effectiveness (MOE) concept for USV mission analysis.
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