水下运载体重力辅助惯性导航系统仿真平台

基金项目: 国防预研资助项目

详细信息

Simulation Platform of Gravity Aided Inertial Navigation System for Underwater Vehicle

¹College of Automation,Harbin Engineering University,45 Nantong Street,Harbin 150001,China

Funds: 国防预研资助项目

摘要: 重力辅助惯性导航系统(GAINS)是未来水下无源导航的重要形式之一。为了调试和验证这种新的水下导航系统,开发了水下运载体导航系统仿真平台。提出了仿真平台总体结构;描述了仿真平台中运动载体模块、惯导模块以及重力测量模块的数学模型和仿真算法;对重力匹配算法也作了相应介绍;最后对仿真平台进行了仿真联调。结果表明,该仿真平台的结构合理可靠,各子系统采用的数学模型和仿真算法正确可信。
- 水下运载体 /
- 惯性导航 /
- 重力辅助惯性导航 /
- 仿真平台
Abstract: In order to debug and verify this underwater navigation system,the simulation platform of navigation system for underwater vehicle is developed.Overall architecture of the simulation platform is proposed.The methematical models and simulation algorithm of vehicle module,inertial navigation system module and gravity measurement module are described.The gravity matching algorithm is introduced too.Finally,the simulation platform is verified and analyzed through system simulation.The results show that the architecture of the platform is reasonable and reliable;and the mathematical models and simulation algorithms of sub-systems are also valid and practicable.
- underwater vehicle /
- inertial navigation system /
- gravity aided inertial navigation system /
- simulation platform