| 基于SINS/GPS/DVL组合导航的AUV半实物仿真系统设计 |
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| 引用本文： | 王彦恺,KANG Feng-ju,杨惠珍,DUAN Shi-mei,谢攀.基于SINS/GPS/DVL组合导航的AUV半实物仿真系统设计[J].系统仿真学报,2008,20(8):2030-2033. |
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| 作者姓名： | 王彦恺 KANG Feng-ju 杨惠珍 DUAN Shi-mei 谢攀 |
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| 作者单位： | 西北工业大学航海学院,陕西,西安,710072;水下信息处理与控制国家重点实验室,陕西,西安,710072 |
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| 摘 要： | 基于导航与控制一体化系统和实时网络技术,设计了一种新的采用惯导、多普勒、GPS组合导航方式的半实物仿真系统,解决了半实物仿真数据传输的实时性问题和时间协调同步问题,进行了控制系统的半实物仿真试验.试验结果表明,所设计的半实物仿真系统导航、控制算法正确,计算精度和解算时延达到系统要求.
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| 关 键 词： | 自主水下航行器 半实物仿真 实时网络 组合导航 |
Design of Hardware-in-loop Simulation System for SINS/GPS/DVL Integrated Navigation System of AUV |
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| WANG Yan-kai,KANG Feng-ju,YANG Hui-zhen,DUAN Shi-mei,XIE Pan.Design of Hardware-in-loop Simulation System for SINS/GPS/DVL Integrated Navigation System of AUV[J].Journal of System Simulation,2008,20(8):2030-2033. |
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| Authors: | WANG Yan-kai KANG Feng-ju YANG Hui-zhen DUAN Shi-mei XIE Pan |
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| Abstract: | Based on the integrated structure of the navigation and control system and a real-time network system,a new hardware-in-loop simulation system for SINS/DVL/GPS integrated navigation system for AUV was proposed. The issue of data real-time transmission of Reflective Memory real-time network and time synchronization among all the subsystems was solved. Simulation results show that the algorithm of the navigation and control computer is correct,and the precision and time delay in computation can meet the system requirements. |
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| Keywords: | autonomous underwater vehicle hardware-in-loop simulation (HILS) real-time network integrated navigation |
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