AUV intelligent fault-tolerance combined navigation simulation system based on network

Abstract

The invention provides a network-based AUV intelligent fault-tolerant integrated navigation simulation system which comprises a strap-down inertial navigation simulator, a GPS simulator, a DVL simulator, an AUV navigation terminal. A sub-navigation system is connected with the AUV navigation terminal through an IP network and transmits relevant navigation information to the AUV navigation terminal on a real-time basis, and fault detection and integrated navigation operation are finished in the AUV navigation terminal. Each sub-system has the characteristics of independent working, so that a plug-and-play AUV intelligent fault-tolerant integrated navigation simulation system is formed; the problem that the traditional navigation facility accesses to the integrated navigation terminal through an RS232 serial port and is limited to the number of serial ports is solved, thereby achieving the purpose of multiple accesses and representing a trend of equipment internet protocolization. Therefore, research cost is effectively reduced, and the invention has significant engineering application value for researching integrated navigation system and the design of communication for latter navigation system.

Description

(1) Technical field [0001] The invention relates to a simulation system, in particular to a navigation simulation system for an underwater intelligent robot. (2) Background technology [0002] With the advancement of science and technology, the ocean, which accounts for 70.8% of the earth's area, continues to attract people to study underwater navigation technology and underwater detection technology with its rich biological resources, mineral resources and energy, and develop this huge treasure house of society. In recent years, AUV has become an important tool and right-hand man for human beings to carry out marine production activities, and has a wide range of application space and research and development needs in civilian and military fields. In order to adapt to the characteristics of AUV's wide range of activities, high concealment requirements, and multiple missions, it is necessary to develop an underwater autonomous, high-reliability, and high-precision integrated ...

AI Technical Summary

Problems solved by technology

[0003] The traditional hardware-in-the-loop simulation system, taking the hardware-in-the-loop simulation system described in the application number 200610011580.X as an example, connects each navigation subsystem with the combination terminal through the RS232 serial data line, but this method is limited by the number of serial ports , usually stand-alone and single-use, wasting resources; and the common integrated simulation method, the coupling degree of each navigation subsystem is high, the reusability is poor, and the synchronization is high, which cannot reflect the asynchronous phenomenon of signals between devices in the real environment.

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