Integrated-navigation and control hardware-in-the-loop simulation test system of underwater vehicle

Abstract

The invention discloses an integrated-navigation and control hardware-in-the-loop simulation test system of an underwater vehicle. A simulation computer figures out the position, posture, speed and course information of the underwater vehicle, and an SINS (Ship's Inertial Navigation System) subsystem simulates the posture motion of the underwater vehicle. A satellite navigation subsystem simulates the position and speed information of the underwater vehicle, and a depth simulation subsystem simulates the sailing depth information of the underwater vehicle. A DVL (Digital Video Interactive) navigation subsystem simulates and computes the speed of the underwater vehicle, and a virtual line accelerometer simulates the specific force information of the underwater vehicle. A navigation control computer collects the information to complete calculating of an inertial navigation and control system to drive a steering engine to move, the steering engine simulates action, and rudder angle information is fed back to the simulation computer by a rudder angle feedback potentiometer. The system realizes debugging and testing of the integrated-navigation and control system of the underwater vehicle.

Description

technical field [0001] The invention relates to a semi-physical simulation system, which has the combined navigation and control system simulation function of strapdown inertial navigation + GPS / Beidou (GPS / BD) + Doppler speedometer + depth sensor, and is suitable for various underwater vehicles Theoretical method research, engineering application technology development and system performance testing and verification of the integrated navigation control system. Background technique [0002] Hardware-in-the-loop simulation, also known as hardware-in-the-loop simulation, refers to the linking of mathematical models, solid models (physical effect models) and actual equipment (objects) of the system in system research. The semi-physical simulation system can be used to test the performance of some components in the system, and the mathematical model of the system can be further corrected, so as to comprehensively test and evaluate the rationality of the system design and the coo...

AI Technical Summary

Problems solved by technology

[0006] The existing simulation system does not solve the linear acceleration signal simulation problem of the inertial navigation system, and cannot constitute a full-closed-loop simulation test of the navigation control system. The present invention provides a combined navigation and control semi-physical simulation test system for underwater vehicles, which realizes the IMU The performance test of inertial navigation components, Doppler speedometer components, and depth sensor components can conduct research on navigation control algorithms. All physical objects and simulation equipment are connected to form a semi-physical closed-loop simulation system, which realizes the integrated navigation control system of underwater vehicles. Joint debugging and testing

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