火力与指挥控制2009，Vol.34Issue(5)：167-171,176,6.
基于SINS/GPS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 Integrated Navigation System of AUV
摘要
Abstract
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Key words
integrated navigation/hardware-in-loop simulation (HIL)/GNSS navigation simulator/IMU (Inertia Measuring Unit)分类
信息技术与安全科学引用本文复制引用
王彦恺,康凤举,段世梅,谢攀,黄永华..基于SINS/GPS组合导航的AUV半实物仿真系统设计[J].火力与指挥控制,2009,34(5):167-171,176,6.基金项目
水下信息处理与控制国家重点实验室资助项目(51448080105ZS2601) （51448080105ZS2601）
