| The design of AUV navigation system is a complicated process with a high accurate demand, large numbers of sensor data under various circumstances are needed. Not only it is very difficult to simulate the complicated ocean environment but also collecting the real sensor data will take abundant time, manpower and material resources. So it is limited to acquire sensor data by means of experiments.The simulation of AUV navigation system sensors is provided in this paper. The general emulator is established by simulating sensor's input and output characteristic. Mostly three parts are included in the paper. The first, modelling and simulation in GPS. Having brought forward method of simulation based on GPS position theory, we synthesize the mathematic analyzing results and GPS positioning models thus program a relevant GPS software on real environment. The second, dynamic modelling and simulation in I-FOG. The dynamic model of Sagnac interferometer is developed. In order to observe it's dynamic response in a short time, we improved the model of Sagnac interferometer from integral stage to integral-delay stage and plot the dynamic response curve. The last, the design of SINS' emulator. A general design of SINS' emulator basing on the characteristic of SINS is provided in this paper, we modularize the system grounding on the Object-Oriented technology and design an emulator which can settle for mixed environment and be expanded. The emulator provides the data source for testing algorithms of correlative navigation systems.The GPS emulator in this paper has been implanted into AUV navigation system successfully and given accurate navigation information in the debugging process of the whole simulation system. A simulation example of SINS has been provided in the paper and the emulator will be applied to the practical research soon. |
PDF Full Text Request