一种用于AUV导航控制软件开发与系统测试的半实物仿真系统

Improving Hardware-in-the-Loop Simulation System for AUV Navigation and Control Software Development and Testing

设计并完成了用于自主水下航行器(AUV)导航控制软件的开发与系统测试的半实物仿真系统。该半实物仿真系统由实时仿真计算机和真实的导航控制计算机构成,实时仿真计算机完成AUV空间运动的实时积分解算,并利用多功能数据采集卡和串行通讯端口模拟AUV导航控制系统中的传感器和操舵机构的工作,为导航控制计算机提供全真的软硬件工作环境,使开发人员在此基础上能够完成导航控制软件全部功能的开发,并进行全面、有效的系统级软件测试,具有非常高的工程实用价值。尤其在实航试验中,可以立即在现场对修改后的导航控制软件进行测试,极大地降低了由软件修改带来的试验风险。

Aim. In Ref. 3, a paper written by the first two authors of the present paper and some others, dealt with the same problem but, in Ref. 3, the gyrocompass and Doppler veloeimeter were separately simulated. In this paper, we propose integrating the gyrocompass and Doppler veloeimeter simulators into a single design, thus, in our opinion, improving Re/. 3＇s design. In the full paper, we explain our integrated design in detail~ in this abstract, we just add some pertinent remarks to listing the three topics of explanation： （1） the navigation and control system of AUV （autonomous underwater vehicle）, （2）the design of hardware-in-the-loop simulation system, and （3）the development of hardware-in-the-loop simulation system; in topic 2, we give Fig. 2 in the full paper showing the schematic of our integrated design; the three subtopics of topic 3 are the mathematical model of AUV （subtopic 3. 1）, simulation model （subtopic 3.2）, and the real-time implementation of simulation （subtopic 3.3）; in subtopic 3.2, we point out that our simulation model should select Adams Prediction-Correction integration method for handling the complexity of AUV model and that the step length of integration should be 10 ms ; to sum up, our simulation system, using a high-performance industrial control computer, can real-timely simulate dynamics of underwater vehicle and its sensors and executors by using multi-function data acquisition card and serial ports. With this simulation system we performed the development of required software whose testing flowchart is shown in Fig. 3 in the full paper. And Fig. 4 illustrates the typical testing result obtained with our simulation system, which can help us to debug the software. By using our simulation system we do find that the software developers can test the control system software conveniently with less time and lower cost, especially in field experiments, in which the control system software is modified frequently.