自主水下航行器组合导航一体化仿真系统开发  

Design of Integrated Navigation Integrative Simulation System of AUV

作　　者：王彦恺[1,2] 康凤举[1,2] 段世梅[1,2] 黄永华[1,2] 

机构地区：[1]西北工业大学航海学院,西安710072 [2]水下信息处理与控制国家重点实验室,西安710072

出　　处：《系统仿真学报》2009年第7期1874-1877,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(448080105ZS2601)

摘　　要：AUV组合导航系统的研究,需要借助于仿真手段进行初步试验和算法验证。采用面向对象技术和模块化的设计思路开发远航程自主水下航行器组合导航一体化仿真软件系统,该一体化仿真软件分为仿真初始参数设置子系统,导航子系统,控制子系统,各子系统根据工作原理设计模块接口,具有建模、仿真、试验的一体化功能。仿真实验结果表明,该组合导航仿真软件系统可为AUV组合导航系统提供初步的仿真调试和实验验证环境,能够为半实物仿真及实物研制提供重要的参考信息。Research on integrated navigation system needs primary testing and arithmetic validating by means of simulation. The integrated navigation Integrative simulation software system of long-distance A U-V was designed by means of Object- Oriented technology and modularized devising. The integrated navigation simulation software system includes the setting of initial parameter subsystem, navigation subsystem and control subsystem. All the subsystems are designed as the module interface based on the work principle, and have the integrative function of modeling, simulation and testing. The experiment results show that the designed navigation integrative simulation system can offer the elementary debugging and validation environment to AUV navigation simulation and also supply the main information to hardware-in-loop simulation and practicality development.

关 键 词：自主水下航行器 组合导航 一体化仿真 仿真模型库 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]