基于SINS/GPS组合导航的AUV半实物仿真系统设计(英文)  

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

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

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

出　　处：《火力与指挥控制》2009年第5期167-171,176,共6页Fire Control & Command Control

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

摘　　要：为了满足水下航行远航程和长时间的要求,远航程自主水下航行器(AUV)采用的是以SINS导航为主、卫星导航定期修正的方式,以提高导航的精度和可靠性。设计一种采用GPS卫星定位导航模拟器、GPS接收机、惯性测量器件(IMU)和实时仿真计算机构成的采用SINS/GPS组合导航方式的AUV导航半实物仿真系统,并对该系统的硬件接口设计、算法和软件开发进行了论述。所开发的系统通过外部的线运动补偿实现了惯性导航系统的完整计算,通过时间同步策略解决了各导航子系统的并行同步问题。部分仿真试验的结果表明,所设计的半实物仿真系统方案可行,可用于更高置信度的AUV组合导航仿真实验。Long-distance automatic underwater vehicle （AUV） adopts SINS as the main navigation mode assisted by satellite navigation which corrects the accumulative error at scheduled time in order to increase the precision and dependability of navigation system. This paper designs a hardware-in-loop simulation system for SINS/GPS integrated navigation of AUV which consists of GPS navigation simulator, GPS receiver, IMU and real-time simulation computer for the purpose of providing a higher confidence means of integrated navigation system. The system accomplishes the entire SINS calculation by external compensation of linear motions and time synchronization of all the navigation subsystem. Simulation experiment is performed to demonstrate the feasibility of the designed system.

关 键 词：组合导航 半实物仿真 卫星导航模拟器 惯性测量单元 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]