摘要
基于导航与控制一体化系统和实时网络技术,设计了一种新的采用惯导、多普勒、GPS组合导航方式的半实物仿真系统,解决了半实物仿真数据传输的实时性问题和时间协调同步问题,进行了控制系统的半实物仿真试验。试验结果表明,所设计的半实物仿真系统导航、控制算法正确,计算精度和解算时延达到系统要求。
Based on the integrated structure of the navigation and control system and a real-time network system, a new hardware-in-loop simulation system for SINS/DVL/GPS integrated navigation system for AUV was proposed. The issue of data real-time transmission of Reflective Memory real-time network and time synchronization among all the subsystems was solved. Simulation results show that the algorithm of the navigation and control computer is correct, and the precision and time delay in computation can meet the system requirements.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第8期2030-2033,共4页
Journal of System Simulation
基金
水下信息处理与控制国家重点实验室资助(51448080105ZS2601)
关键词
自主水下航行器
半实物仿真
实时网络
组合导航
autonomous underwater vehicle
hardware-in-loop simulation （HILS）
real-time network
integrated navigation
