Research On Hardware-in-the-loop Simulation System Of GPS/IMU Integrated Navigation

The test on hardware-in-the-loop(HITL) simulation of integrated navigationis an important means of performance testing for navigation system. Aiming at the requirements about how to quickly and effectively evaluate the performance of integrated navigation system, a set of HITL simulation system of GPS/IMU integrated navigation has been designedto provide a test platform with high precision for the integrated navigation system performance testing. After test, the HITL simulation system of GPS/IMU integrated navigation runs with a stable precision, high reliability and real-time performance. The research content is as follows:1.Therequirements of the HITL simulation system of GPS/IMUintegratednavigation are expounded. Then the overall scheme of the system is put forward:the control platform of HITL simulation which is used as a general control machine realizesreal-time synchronization of data transfer and experiment under unified scenario simulation amongthe scene simulation computer, satellite navigation simulator, three-axis turntable, IMU and integrated navigation receiverto implement integrated navigation simulation system closed-loop test;2. The modeling and simulation analysis of the integrated navigation scenarios. Including the definition of coordination systems and transformations about integrated navigation, this paper introduces missile motion model and accelerometermodeling based on than force equation, and using STK software to realize the visual simulation of sports scene;3. The method has been studied to control theHITL simulation system of integratednavigation by the control platform of HITL simulation. According to the problem of real-time transmission on trajectory data, the optical fiber network Shared memory has been used to send data in real timeto hardware system by PCI to realize the scene real-time simulation. For the problem of satellite navigation simulator, three-axis turntable and IMU working under different data update rate, a method has been put forward to realize the synchronous operation under unified scenario: 1 PPS signal which generates from the satellite navigation simulator is used as the clock benchmark, the system produces sync pulse signals of different update rate to drive the equipment operation.4. The software development has been completed about control platformof HITL simulation. Combined with the working process of the system,the function of the software has been analysis, and thenmultiple document/view application engineering has been set up to complete the entire software development.5. The HITL simulation system of GPS/IMUintegratednavigation has been tested.Results show that each module met the requirementof the system, the hole system runs well. The positioning accuracy of the system is:position error within 3(m) under ECEF coordinates, velocity error in 10 e-1(m/s) under ECEF coordinates, the attitude error within 10 e-1(°).