基于SINS/GPS/DVL组合导航的AUV半实物仿真系统设计  

Design of Hardware-in-loop Simulation System for SINS/GPS/DVL Integrated Navigation System of AUV

作　　者：王彦恺[1] 康凤举[1] 杨惠珍[1] 段世梅[1] 谢攀[1] 

机构地区：[1]西北工业大学航海学院

出　　处：《系统仿真学报》2008年第8期2030-2033,共4页Journal of System Simulation

基　　金：水下信息处理与控制国家重点实验室资助(51448080105ZS2601)

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。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.

关 键 词：自主水下航行器 半实物仿真 实时网络 组合导航 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]