Assisted Navigation Hardware-in-Loop Simulation System of Autonomous Undersea Vehicle Based on GPS Satellite Simulator
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摘要: 全球卫星定位系统(GPS)应用于远程自主水下航行器导航系统中，可利用其精密导航和定位能力对航位推算导航系统如惯导和多普勒导航的累积误差进行精密校正。本文设计一种采用GPS卫星定位导航模拟器、GPS接收机和仿真计算机构成的卫星导航仿真系统，旨在用于自主水下航行器AUV辅助导航系统的试验验证。文中对该系统的硬件接口设计和软件开发进行了论述，并进行了部分系统测试评估。测试结果表明，该卫星导航仿真平台工作可靠，最终的设计方案可用于AUV导航与控制半实物仿真系统中。Abstract: Global position system(GPS) can revise the cumulative error of dead reckoning navigation system, such as strapdown inertial navigation system(SINS) and Doppler navigation, with its ability of accurate navigation and positioning when it is applied to the navigation system of autonomous underwater vehicle(AUV). We designed a satellite assisted navigation simulation system for AUV, which consists of a satellite positioned GPS satellite simulator, a GPS receiver, and a simulation computer. The hardware interface design and software development of the hardware-in-oop simulation system are discussed in this paper. The simulation result shows that the navigation platform is reliable, and our scheme can be applied successfully to the hardware-in-loop simulation system of AUV navigation and control.
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