水下航行器导航与控制一体化系统的半实物仿真试验设计

Design of Hardware-in-the-Loop Simulation for Navigation and Control Integrated System of Underwater Vehicle

针对采用导航与控制一体化系统,即导航与控制传感器共用、导航与控制计算机合二为一的某型水下航行器,提出了一种半实物仿真试验方案,进行了半实物仿真。试验结果表明,导航、控制算法正确,计算精度满足使用要求,硬件之间的匹配性能良好,方案可行。该导航与控制一体化系统可应用到实际的水下航行器中。

The project of the hardware-in-the-loop simulation was proposed based on the structure of the navigation and control integrated system for an underwater vehicle. Simulations are performed to indicate that the algorithm of the navigation and control computer is correct; the precision in computation can meet the using requirements; and the matching capability of the hardware is good. The integrated systems of navigation and control can be applied to the underwater vehicle.