基于Matlab/xPC的车载组合导航半实物仿真平台  

Development of Hardware-in-the-Loop Simulation System for Land Vehicle Integrated Navigation Based on Matlab/xPC

作　　者：徐田来[1] 崔平远[1] 崔祜涛[1] 

机构地区：[1]哈尔滨工业大学深空探测基础研究中心,哈尔滨150001

出　　处：《系统仿真学报》2009年第2期393-396,400,共5页Journal of System Simulation

基　　金：国家863项目(2006AA12Z305);国家自然科学基金(60774065)

摘　　要：利用Matlab的RTW工具箱和xPC目标,建立一台宿主机和两台目标机的系统结构,设计并实现了车载INS/GPS/里程计组合导航半实物仿真平台。该平台包括车辆运动模拟子系统和组合导航子系统两部分,两个目标机分别控制两个子系统。车辆运动模拟子系统通过二自由度运动实验台模拟车辆的平动和转动,仿真车辆运动状态;组合导航子系统在仿真的车辆运动环境下实现INS/GPS/里程计的组合导航。车载组合导航平台能够用于组合导航软件的开发与测试,可以节约研究成本,加快开发周期。A hardware-in-the-Loop simulation platform for INS/GPS/odometer integrated navigation system of land vehicle was designed and completed. The architecture of this platform, one host PC and two target PCs, was established based on Matlab toolbox of RTW and xPC target. This platform includes vehicle motion simulation subsystem and integrated navigation subsystem. Two xPC targets control these two subsystems separately. 2-DOF table is used to simulate the movement of vehicles in vehicle motion simulation subsystem. INS/GPS/Odometer is integrated in integrated navigation subsystem. Navigation softwares can be developed and tested in this platform, which can reduce costs and speed up the development cycle.

关 键 词：组合导航 半实物仿真 XPC 惯性导航系统 GPS 

分 类 号：TN967.2[电子电信—信号与信息处理]