水下航行器导航与控制实时仿真系统

Real-Time Navigation and Control Simulation System for a Long-Distance Autonomous Underwater Vehicle

针对某远程自主水下航行器 ,设计并实现了该航行器的实时仿真系统 ,阐述了该系统的方案构思、硬件组成及工作原理 ,介绍了实时仿真软件 ,最后给出在该系统上的实验结果。结果表明 ,该系统能为自动驾驶仪创造一个很好的仿真环境 ,通过它设计者在实验室中就可以较全面地对导航与控制系统进行调试 。

For a long distance autonomous underwater vehicle(AUV), we proposed an integrated navigation and control scheme to ensure the accurate location. This scheme mainly included a gyrocompass and a doppler velocimeter. In order to test the performance of our scheme and debug the software and hardware, semi physical simulation is the usual way. But semi physical simulation suffers from the following three shortcomings:(1)it needs much more time and costs much more, (2) the doppler velocimeter cannot participate in the test in the laboratory; (3) it is not necessary for debugging software. In order to overcome the aforementioned problems, a real time simulation system was designed and implemented in Northwestern Polytechnical University for a long distance AUV. This system consisted of a local area network including a PC 104 industry control computer and a portable computer. The PC 104 industry control computer was used to perform the following tasks: (1) calculate the integrated navigation and control model of AUV proposed by us for the first time; (2) send out the heading, pitch and roll of AUV model to simulate the gyrocompass via RS232 according to the gyrocompass communication protocol; (3) send out the states of AUV model to the portable computer via ethernet network by TCP/IP protocol; (4)send out the depth of AUV to simulate the depth sensor via D/A; (5) send the “begin” command to navigation and control system to simulate the launch of AUV via digital output; (6)receive the “stop” command from the navigation and control system to simulate the parking of AUV via digital input. The portable computer was used to perform the following three tasks: (1) receive the states of AUV via ethernet network by TCP/IP protocol; (2) send out the velocity and height of AUV to simulate the doppler velocimeter via RS232 according to the doppler velocimeter communication protocol; (3) display the states of AUV by graphs.Figs.1 and 2 show schematically the navigation & control system of AUV and real time simulation system respectively. Figs.3 and 4 are the flow charts of main program and interrupt program respectively on PC 104 computer. Fig.5 gives only a small representative portion of the simulation results of navigation and control system. Extensive simulation results show that this simulation system can simulate realistically navigation and control system, help to evaluate the performance of this system as well as greatly reduce the experimental cost and reduce the debugging time.