| Simulation platform of navigation system for autonomous underwater vehicle |
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| 作者姓名： | QIN Zheng BIAN Xin-qian |
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| 作者单位： | QIN Zheng and BIAN Xin-qian College of Automation，Harbin Engineering University，Harbin 150001，China |
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| 摘 要： | 1 Introduction1 It is hoped the Autonomous Underwater Vehicle (AUV) can be fully autonomous, but the basis of this hope is that AUV can navigate and position accurately.Inertial navigation is the main navigation method for AUV, but accumulative error of t…
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| 关 键 词： | 模拟技术 计算机 仿真 水下运输工具 |
| 文章编号： | 1671-9433（2006）04-0033-05 |
| 收稿时间： | 2006-06-17 |
Simulation platform of navigation system for autonomous underwater vehicle |
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| QIN Zheng BIAN Xin-qian.Simulation platform of navigation system for autonomous underwater vehicle[J].Journal of Marine Science and Application,2006,5(4):33-37. |
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| Authors: | Zheng Qin Xin-qian Bian |
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| Institution: | (1) College of Automation, Harbin Engineering University, Harbin, 150001, China |
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| Abstract: | In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The system architecture, net communication and the information flow are discussed. The methods of software realization and some key techniques of the Vehicle Computer and the Navigation Equipment Computer are introduced in particular. The software design of Terrain Matching Computer is introduced also. The simulation platform is verified and analyzed through simulation. The results show that the architecture of the platform is reasonable and reliable, and the mathematic models and simulation algorithms of sub-systems are also valid and practicable. |
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| Keywords: | autonomous underwater vehicle simulation platform inertial navigation terrain-aided navigation |
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