自主式水下潜器导航仿真系统研究

基于Windows网络平台用VC 语言开发出了自主式水下潜器(简称AUV)导航仿真系统,论述了仿真系统的体系结构、网络通信和数据交换;详细介绍了仿真系统中运动载体计算机和导航设备计算机的软件实现方法和关键技术;对重力匹配和地形匹配算法也作了相应的介绍;对仿真平台进行了仿真验证分析。结果表明,该仿真系统结构合理可靠,各子系统采用的数学模型和仿真算法正确可信。该仿真系统可作为演示、验证和评估AUV导航系统正确性、有效性和实用性的先进手段和科学方法,并已得到实际应用。

Research on Simulation System for Navigation of Autonomous Underwater Vehicle

The simulation system for navigation of autonomous underwater vehicle (short for AUV) was developed with Visual C based on Windows platform. The system architecture, net communication and information flow were discussed. The methods to software realization and some key technologies of the vehicle computer and the navigation equipment computer were introduced in particular. The gravity matching algorithm and terrain matching algorithm were introduced also. The simulation system was verified and analyzed through simulation. The results show that the architecture of the system is reasonable and reliable, and the mathematics model and simulation algorithm of the sub-systems are also valid and practicable. This simulation system can be used as an advanced and scientific tool to display, verify and evaluate the correctness, validity and practicability for the navigation system of AUV.