The Simulation Of Doppler Velocity Log System Of Underwater Vehicle

Provided with reliable, securable, and economical capability, simulation is a comprehensive technique and is not limited by weather and field. It has been combined with people's daily life closely. Simulation technique is the most efficient means to shorten research cycle, improve research quality and cut down expenses. The Doppler Velocity Log(DVL) simulation system for the underwater vehicle has been built in this paper.It is necessary to build the integrated simulation system for the development and research of the intelligent underwater vehicle. The integrated simulation system can simulate the whole marine environment, respond to the underwater vehicle's control information and produce sensor information, so underwater vehicle can navigate and plan route by itself in virtual marine environment. There are two important components in the integrated simulation system: one is the hydrodynamic simulation, the other is sensor simulation. Hydrodynamic simulation is the most important component in the integrated simulation system, and determines the effect of integrated simulation system. Due to special work environment, sonar is main sensor of underwater vehicle. Underwater vehicle get the information of marine and itself from sonar, then according to sonar information autonomous route plan component send the next control information to control component.This paper develops a sonar simulation system that is an important component in integrated simulation system. According to the new Doppler Velocity Log fixed on underwater vehicle and correlative documents about acoustic modelling and signal processing, this paper carefully analyses the error source of the Doppler Velocity Log, then builds a model for the Doppler Velocity Log and develops a sonar simulation system. The sonar simulation system can provide underwater vehicle's velocity in various marine environments to navigation system, and verify performance of the control algorithm, so greatly perfects the integrated simulation system.