Study on Hardware-in-the-Loop Simulation System for Navigation and Control of UUV

Abstract

The Unmanned Underwater Vehicle (UUV) is used more and more widely in military and non-military areas. Since UUVs navigation and motion control system is highly complex, a Hardware-In-the-Loop Simulation (HILS) system is designed and implemented to help research and development of its navigation and motion control system. The HILS system is mainly composed of real-time simulation computer, main control compute, GPS/Beidou satellite signal simulator, three-axis turntable, actuator load simulator, water pressure simulator, acceleration simulation unit, visual computer and interface devices. Performance specifications are allocated to each components of the HILS system according to dynamic characteristics of the UUV under complicated disturbances. Proximity between the results of the UUVs HILS and sea trial demonstrates the validity of the HILS system elementarily.