In order to solve the problem that the modular AUV is incompatible with the hardware-in-the-loop simulation system after the load changes, a modular AUV distributed hardware-in-the-loop simulation system is designed by using the distributed simulation method. A 6-DOF mathematical model was established based on the “Yunfan” modular AUV, and a motion simulator was designed to calculate the motion state variables of AUV.A distributed sensor simulation module is designed based on CAN bus to simulate the sensor module actually used by AUV.In the actual navigation experiment, the PID parameters preliminatively adjusted by the simulation system are fine-tuned. The experiment shows that the surface orientation accuracy is less than ±1°, and the underwater orientation and depth accuracy is less than ± 7° and ± 0.2 m, which proves that the distributed hardware-in-the-loop simulation system has important guiding significance for the actual navigation of the modular AUV.
Design and Implementation of Modular AUV Distributed Hardware-in-the-Loop Simulation System
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2024 ; Shenyang, China September 19, 2024 - September 21, 2024
Proceedings of 4th 2024 International Conference on Autonomous Unmanned Systems (4th ICAUS 2024) ; Chapter : 13 ; 132-144
2025-04-12
13 pages
Article/Chapter (Book)
Electronic Resource
English
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Automotive engineering | 1993
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