CN101464935B - AUV intelligent fault-tolerance combined navigation simulation system based on network - Google Patents

Abstract

The invention provides a network-based AUV intelligent fault-tolerant combined navigation simulation system, which is composed of four parts: a strapdown inertial navigation simulator, a GPS simulator, a DVL simulator, and an AUV navigation terminal. The sub-navigation system establishes a connection with the AUV navigation terminal through the IP network, transmits relevant navigation information to the AUV navigation terminal in real time, and completes fault detection and integrated navigation calculations in the AUV navigation terminal. Each subsystem has the characteristics of independent work, forming a plug-and-play AUV intelligent fault-tolerant integrated navigation system; it breaks through the traditional navigation equipment connected to the integrated navigation terminal through the RS232 serial port, which is limited by the number of serial ports, and achieves simultaneous access by multiple users At the same time, it also represents the trend of equipment IP, which effectively saves the research and development cost, and has important engineering application significance for the research of integrated navigation system and the communication design of the later navigation system.

Description

Network-based AUV intelligent fault-tolerant integrated navigation simulation system

(1) Technical field

The invention relates to a simulation system, in particular to a navigation simulation system for an underwater intelligent robot.

(2) Background technology

With the advancement of science and technology, the ocean, which accounts for 70.8% of the earth's area, continues to attract people to study underwater navigation technology and underwater detection technology with its rich biological resources, mineral resources and energy, and develop this huge treasure house of society. In recent years, AUV has become an important tool and right-hand man for human beings to carry out marine production activities, and has a wide range of application space and research and development needs in civilian and military fields. In order to adapt to the characteristics of AUV's wide range of activities, high concealment requirements, and multiple missions, it is necessary to develop an underwater autonomous, high-reliability, and high-precision integrated navigation system. Since the lake test and sea test require a lot of funds, it is of great significance to conduct simulation to verify the effect of intelligent fault-tolerant integrated navigation before the test.

The traditional hardware-in-the-loop simulation system, taking the hardware-in-the-loop simulation system described in the application number 200610011580.X as an example, connects each navigation subsystem with the combination terminal through the RS232 serial data line, but this method is limited by the number of serial ports , usually stand-alone and single-use, wasting resources; and the common integrated simulation method, the coupling degree of each navigation subsystem is high, the reusability is poor, and the synchronization is high, which cannot reflect the asynchronous phenomenon of signals between devices in the real environment. . From a research point of view, it is urgent to develop an AUV intelligent fault-tolerant integrated navigation system. Each subsystem can meet the requirements of multi-user and multi-task parallel operation, shorten the development time and save the development cost.

(3) Contents of the invention

The purpose of the present invention is to provide a network-based AUV intelligent fault-tolerant integrated navigation simulation system that can meet the requirements of multi-user and multi-task parallel operation, provide a good simulation environment for researching intelligent fault-tolerant integrated navigation systems, and save research and development costs.

The purpose of the present invention is achieved like this:

A network-based AUV intelligent fault-tolerant integrated navigation simulation system consists of four parts: a strapdown inertial navigation simulator, a GPS simulator, a DVL simulator, and an AUV navigation terminal. Among them: AUV navigation terminal is composed of: a) AUV trajectory generator, b) fault generator, c) intelligent fault-tolerant integrated navigation module, d) trajectory generation module, e) user interface terminal and f) communication module. Among them, the user interface terminal provides a friendly information interaction environment such as navigation plan setting, sensor parameter setting, fault setting, and trajectory display; the AUV trajectory generator simulates the position, speed, acceleration, attitude information; the fault generator is responsible for triggering SINS, GPS, DVL mutation and slow-change faults; the intelligent fault-tolerant integrated navigation module detects and monitors faults through real-time collected SINS position, speed, attitude information, GPS position and speed information, and DVL speed information. Information fusion finally outputs effective navigation information; the trajectory generation module draws navigation curves in real time according to the sensor data and the final combined data; the communication module performs real-time information interaction with other simulators through the IP network. The DVL simulator simulates the DVL speed information according to the motion trajectory generator, and is on the same PC as the AUV navigation terminal; the strapdown inertial navigation simulator and the GPS simulator respectively establish socket connections with the AUV navigation terminal through the IP network, and transmit it in real time during the navigation process Parameter information.

Among them, the strapdown inertial navigation simulator includes: a user interface module, a motion simulation module, an inertial sensor simulation module, a lever-arm interference and noise generation module, a fault occurrence module, a navigation algorithm realization module, and a communication module. Among them, the navigation parameters and fault parameters of the strapdown inertial navigation simulator can be set by the user interface module of the simulator, and can also be set in the AUV navigation terminal; the motion simulation module simulates the swaying state of the AUV in the sea according to the navigation plan and operating environment position, speed, acceleration, and attitude information; the lever arm interference and noise generation module simulates sensor errors based on installation errors, constant value drift, and random drift; the fault occurrence module can introduce sensors according to the fault parameters set by the simulator or AUV navigation terminal slow-change and sudden-change faults; at the same time, the inertial sensor simulation module simulates the accelerometer and gyroscope output values of the strapdown inertial navigation in real time; the navigation algorithm realization module calculates the carrier's position, Speed and attitude information; the communication module can obtain the voyage plan set by the AUV navigation terminal and the sensor parameters and fault parameters related to the strapdown inertial navigation system by establishing a socket connection; and can transmit the strapdown inertial navigation solution information to the AUV navigation terminal.

Among them, the GPS simulator includes: user interface module, communication module, carrier motion model, satellite trajectory generator, visible star forecast module, module for determining the best star, GPS noise and fault occurrence module, module for calculating receiving point position, and communication module . The navigation parameters and fault parameters of the GPS simulator can be set by the user interface module of the simulator or in the AUV navigation terminal; the motion simulation module simulates the position, speed, acceleration and attitude information of the carrier according to the navigation plan and operating environment; The satellite trajectory generator calculates the instantaneous position of the satellite from the ephemeris, combines the carrier movement information with the visible star prediction module to predict the visible stars, and determines the best four stars; GPS noise and faults can be generated by the simulator failure module or AUV navigation terminal, And through the pseudo-range calculation, it is introduced into the best point position information obtained by the solution receiving point position module; the communication module can obtain the navigation plan set by the AUV navigation terminal and the sensor parameters and fault parameters related to the GPS system by establishing a socket connection. ; And the position and speed information calculated by GPS can be transmitted to the AUV navigation terminal in real time.

In the present invention, SINS, GPS, DVL emulator establishes socket connection with AUV navigation terminal through IP network, and wherein, DVL emulator is in the same PC as AUV navigation terminal in the present invention because the module function is relatively single. The three simulators can be set by the AUV navigation terminal for navigation parameters and error models, and can be triggered by the fault occurrence module of the AUV navigation terminal for sudden and slow-change faults.

The advantage of the present invention is that the combined relationship between modules is based on the principles of low coupling, reusability, and easy expansion, and the idea of plug-and-play design of the AUV intelligent fault-tolerant combined navigation system, based on the simulation environment of the IP network, enables multi-user Multi-task parallel operation has become possible, which effectively solves the limitation of the number of serial ports in the traditional RS232 serial communication design, and ensures the independent working characteristics of each navigation subsystem. The idea of plug and play fundamentally reflects the actual work The environment has made in-depth preliminary preparations for the IP and networking of navigation equipment, which has engineering application value.

(4) Description of drawings

Fig. 1 is a simulation structure diagram of the AUV intelligent fault-tolerant integrated navigation system in the present invention.

Fig. 2 is a schematic diagram of an intelligent fault-tolerant combination module in the present invention.

Fig. 3 is a flow chart of the software design of the AUV intelligent fault-tolerant integrated navigation simulation system in the present invention.

Fig. 4 is a structural diagram of the GPS simulator in the present invention.

Fig. 5 is a structural diagram of the SINS simulator in the present invention.

(5) Specific implementation methods

The present invention is described in more detail below in conjunction with accompanying drawing example:

Combined with Figure 1, the AUV intelligent combined fault-tolerant simulation system consists of four parts: strapdown inertial navigation simulator, GPS simulator, DVL simulator, and AUV navigation terminal. The AUV navigation terminal is composed of: a) AUV trajectory generator, b) fault generator, c) intelligent fault-tolerant integrated navigation module, d) trajectory generation module, e) user interface terminal and f) communication module. Among them, the user interface terminal provides a friendly information interaction environment such as navigation plan setting, sensor parameter setting, fault setting, and trajectory display; the AUV trajectory generator simulates the position, speed, acceleration, attitude information; the fault generator is responsible for triggering SINS, GPS, DVL mutation and slow-change faults; the intelligent fault-tolerant integrated navigation module detects and monitors faults through real-time collected SINS position, speed, attitude information, GPS position and speed information, and DVL speed information. Information fusion finally outputs effective navigation information; the trajectory generation module draws navigation curves in real time according to the sensor data and the final combined data; the communication module performs real-time information interaction with other simulators through the IP network. The DVL simulator simulates the DVL speed information according to the motion trajectory generator, and is on the same PC as the AUV navigation terminal; the strapdown inertial navigation simulator and the GPS simulator respectively establish socket connections with the AUV navigation terminal through the IP network, and transmit it in real time during the navigation process Parameter information.

Figure 2 is a schematic diagram of the intelligent fault-tolerant combination module. First of all, the rationality and consistency of the information of each navigation subsystem are checked, and the information fusion of each sub-combination system is carried out, and then the fault detection and system reconstruction are carried out. In order to make the residual and dual-state detection able to identify the source of the fault, for the SINS/GPS integrated navigation module, the difference between the SINS and GPS position information is used as the observation quantity, and a 9-order filter is designed to obtain the combined position information; The difference between the speed information and the GPS speed information is used as the observation quantity, and a 7th-order filter is designed to obtain the combined speed information, so as to analyze the fault originating from the position or speed information. For the SINS/GPS/DVL integrated navigation module, a 9th-order filter is designed to obtain the combined position information by taking the position information difference between the SINS and GPS as the observation; Aiming at the SINS/DVL integrated navigation system, a 13th-order simulator is designed with the difference between SINS and DVL speed information as the observation. The state variables can be selected according to the strapdown inertial navigation error motion equation and the DVL error model.

The DVL error model is:

$\left.\begin{array}{c}\mathrm{<span\; class="notranslate">\; \&delta;</span>}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; V</span>}}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}{\mathrm{<span\; class="notranslate">\; \&delta;V</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}\\ \mathrm{<span\; class="notranslate">\; \&delta;</span>}\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&beta;</span>}}_{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}\mathrm{<span\; class="notranslate">\; \&delta;\&Delta;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; \&Delta;</span>}}\\ \mathrm{<span\; class="notranslate">\; \&delta;</span>}\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right\}$

The error equation of strapdown inertial navigation is:

1) The described system state equation of setting up the SINS/DVL13 order integrated navigation system state equation is:

$\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; f</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; G</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; W</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>$

W＝[0 0 a _x a _y 0 0 0 w _x w _y w _z w _d w _Δ 0] ^T

The measurement equation of the system is: $Z=\left[\begin{array}{c}{V}_x-V_{\mathrm{dx}}\\ V_{\mathrm{the\; y}}-V_{\mathrm{dy}}\end{array}\right]=\mathrm{HX}+v$

$\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{ccccccccccccc}\mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\\ \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 1</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& \mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}& {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\end{array}\right]$

The discrete equation is:

$\left.\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&Phi;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&Gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; W</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}\end{array}\right\}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; \&Greater\; Equal;</span>\mathrm{<span\; class="notranslate">\; 1</span>}$

δλ表示纬度、经度误差；δV_x，δV_y表示东向、北向速度误差；V_x，V_y表示东向、北向速度；φ_x，φ_y表示北向、东向水平失准角；φ_z表示方位失准角；  ε_x，ε_y，ε_z表示陀螺漂移；δV_d表示多普勒速度偏移误差；δΔ表示偏流角误差；刻度系数误差δC，V_dx V_dy为DVL东向北向速度。Among them, X _k is the estimated state; W _k is the noise sequence; Φ _{k, k-1} is the one-step transfer matrix from t _k-1 to t _k ; Γ _k-1 is the system noise driving matrix; H _k is the measurement matrix ; V _k is the measurement noise sequence;

δλ means latitude and longitude error; δV _x , δV _y means east and north speed error; V _x , V _y means east and north speed; φ _x , φ _y means north and east horizontal misalignment angle; φ _z means Azimuth misalignment angle; ε _x , ε _y , ε _z represent gyro drift; δV _d represents Doppler velocity offset error; δΔ represents drift angle error; scale coefficient error δC, V _dx V _dy is DVL east to north velocity.

2) Taking the velocity error as the observation quantity, the established SINS/DVL 7th-order Kalman filter has the following state equation and measurement equation form. Due to the low observability of the celestial gyro drift, the ε _z term is omitted:

X＝[δV _x δV _y φ _x φ _y φ _z ε _x ε _y ] ^T

The measurement equation of the system is:

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; dx</span>}}\\ {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; dy</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; 7</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; v</span>}$

H＝[I _2×2 0 _2×5 ]

3) Taking the position error as the observation quantity, the established SINS/GPS 9-order Kalman filter has the following state equation and measurement equation form

The measurement equation of the system is:

H＝[I _2×2 0 _2×7 ]

λ_gy为GPS纬度、经度信息。in,

λ _gy is GPS latitude and longitude information.

4) Taking the velocity error as the observation quantity, the established SINS/GPS 7-order Kalman filter has the following state equation and measurement equation form:

X＝[δV _x δV _y φ _x φ _y φ _z ε _x ε _y ] ^T

The measurement equation of the system is:

$\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; gx</span>}}\\ {\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; gy</span>}}\end{array}\right]<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; h</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; 7</span>}}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; v</span>}$

H＝[I _2×2 0 _2×5 ]

Among them, V _gx V _gy is the east-to-north speed of DVL.

5) The residual x ² and two-state x ² methods used in the intelligent fault-tolerant integrated navigation system, fault discrimination and system reconstruction are algorithms well known to researchers in the industry.

Figure 3 is a flow chart of the software design of the AUV intelligent fault-tolerant simulation system. First, the user enters the friendly interface of the AUV navigation terminal to set the track information; the user selects the subsystem that needs information fusion, and sets the communication information of the corresponding subsystem, including IP address and port number information, error parameter setting, and fault parameter setting , the sub-navigation system is plug-and-play for the AUV navigation terminal system; after the user initiates the navigation start command, the AUV intelligent fault-tolerant integrated navigation terminal establishes a socket connection with each navigation subsystem, and at the same time, each navigation subsystem acquires track information, sensor Error parameters and fault parameters and other related information are used for navigation calculation; the AUV navigation system reads the navigation subsystem navigation parameters in real time according to the sampling frequency; then enters the intelligent fault-tolerant integrated navigation module, and first judges the rationality and consistency of the subsystem parameters; Enter the federal filtering sub-combination system for information fusion; use the residual x ² and two-state x ² method to perform fault judgment; system reconstruction; output AUV navigation information. Among them, the navigation algorithm, the residual x ² and the two-state x ² method are algorithms well known to researchers in the field.

Figure 4 is a structural diagram of the GPS simulator. After adding the communication module on the basis of the traditional GPS simulator, the GPS simulator is mainly composed of the following modules: user interface module, communication module, carrier motion model, satellite trajectory generator, visible star forecast module, optimal star module, GPS noise and fault occurrence module, module for calculating receiving point position, communication module. The GPS simulator establishes a socket connection through the IP network, and performs information interaction with the communication module of the AUV navigation terminal. Among them, after the communication connection is established, the relevant parameters of the GPS simulator can be determined by the planned track, GPS error parameters and fault parameters set in the AUV navigation terminal module; the motion simulation module simulates the carrier position, speed, Acceleration and attitude information; the satellite trajectory generator calculates the instantaneous position of the satellite from the ephemeris, combines the carrier motion information with the visible star forecast module to predict the visible star, and determines the best four stars, simulates the GPS output, and performs navigation calculation based on the pseudo-range. And according to the data set in the fault generator, the sudden change in position and speed and the slow-change fault are simulated, and the navigation information such as position and speed calculated by the GPS simulator is transmitted to the AUV navigation terminal in real time.

Figure 5 is the strapdown inertial navigation simulator. After adding the communication module on the basis of the traditional strapdown inertial navigation simulator, the strapdown inertial navigation simulator is mainly composed of the following modules: user interface module, motion simulation module, inertial sensor simulation module, lever arm interference and noise generation module, Fault occurrence module, navigation algorithm realization module, communication module. Establish a socket connection through the IP network, and exchange information with the communication module of the AUV navigation terminal. Among them, after the communication connection is established, the relevant parameters of the strapdown inertial navigation simulator can be determined by the planned track set in the AUV navigation terminal module and the error parameters and fault parameters of the strapdown inertial navigation related sensors; Environment, simulating the position, velocity, acceleration, and attitude information of the AUV in the state of wave swing; the lever arm interference and noise generation module simulates the sensor error according to the installation error, constant value drift, and random drift; the fault occurrence module can be based on the simulator or AUV The fault parameters set by the navigation terminal introduce slow-change and sudden-change faults of the sensor; at the same time, the inertial sensor simulation module simulates the accelerometer and gyroscope output values of the strapdown inertial navigation in real time; the navigation algorithm implementation module is based on the acceleration information output by the inertial sensor simulation module and angular velocity information to calculate the position, velocity, and attitude information of the carrier; during the navigation process, the strapdown inertial navigation simulator transmits the navigation information calculated by the strapdown inertial navigation simulator to the AUV navigation terminal in real time.

Claims (2)

1. The AUV intelligent fault-tolerant integrated navigation simulation system based on the network is characterized in that: the system is composed of a strapdown inertial navigation simulator, a GPS simulator, a DVL simulator and an AUV navigation terminal; the AUV navigation terminal is composed of: a) an AUV motion track generator, b) a fault generator, c) an intelligent fault-tolerant integrated navigation module, d) a track generation module, e) a user interface terminal and f) a communication module; the user interface terminal provides navigation plan setting, sensor parameter setting, fault setting and track display friendly information interaction environment; the AUV motion trail generator simulates position, speed, acceleration and attitude information of the AUV in a sea wave swing state according to a navigation plan set by a user; the fault generator is responsible for triggering strapdown inertial navigation, a GPS and DVL sudden change and slow change faults; the intelligent fault-tolerant integrated navigation module carries out fault detection and information fusion through the SINS position, speed and attitude information, the GPS position and speed information and the DVL speed information which are collected in real time, and finally outputs effective navigation information; the track generation module draws a navigation curve in real time according to the sensor data and the final combined data; the communication module carries out information real-time interaction with other simulators through an IP network; the DVL simulator simulates DVL speed information according to the motion trail generator and is positioned in the same PC with the AUV navigation terminal; the strapdown inertial navigation simulator and the GPS simulator are respectively connected with an AUV navigation terminal through a socket through an IP network, and parameter information is transmitted in real time in the navigation process;

the strapdown inertial navigation simulator comprises a user interface module, a motion simulation module, an inertial sensor simulation module, a lever arm interference and noise generation module, a fault generation module, a navigation algorithm realization module and a communication module; navigation parameters and fault parameters of the strapdown inertial navigation simulator are set by a user interface module of the strapdown inertial navigation simulator, or are set in an AUV navigation terminal; the motion simulation module simulates the position, speed, acceleration and attitude information of the AUV in a sea wave swinging state according to a navigation plan and an operation environment; the lever arm interference and noise generation module simulates sensor errors according to installation errors, constant drift and random drift; the fault generation module introduces sensor slow-changing and sudden-changing faults according to fault parameters set by a strapdown inertial navigation simulator or an AUV navigation terminal; meanwhile, the inertial sensor simulation module simulates an accelerometer and a gyroscope output value of the strapdown inertial navigation in real time under the condition; the navigation algorithm implementation module calculates the position, speed and attitude information of the carrier according to the acceleration information and the angular speed information output by the inertial sensor simulation module; the communication module acquires a navigation plan set by the AUV navigation terminal and sensor parameters and fault parameters related to the strapdown inertial navigation system by establishing socket connection; and transmitting the strapdown inertial navigation resolving information to the AUV navigation terminal in real time.

The GPS simulator comprises a user interface module, a communication module, a carrier motion model, a satellite trajectory generator, a visible star forecasting module, an optimal star determining module, a GPS noise and fault generating module, a receiving point position resolving module and a communication module; the navigation parameters and the fault parameters of the GPS simulator are set by a user interface module of the GPS simulator, or are set in an AUV navigation terminal; the motion simulation module simulates carrier position, speed, acceleration and attitude information according to the navigation plan and the operation environment; the satellite trajectory generator calculates the instantaneous position of the satellite from ephemeris, and the visible star prediction module predicts visible stars by combining the motion information of the carrier and determines the best four stars; GPS noise and faults are generated by a GPS noise and fault generation module of a GPS simulator or an AUV navigation terminal and are introduced into the optimal point position information obtained by a receiving point position resolving module through pseudo-range calculation; the communication module acquires a navigation plan set by the AUV navigation terminal and sensor parameters and fault parameters related to a GPS system by establishing socket connection; and transmitting the position and speed information resolved by the GPS to the AUV navigation terminal in real time.

2. The network-based AUV intelligent fault-tolerant integrated navigation simulation system according to claim 1, wherein: the DVL simulator generates speed information according to an AUV motion trail generator in the AUV navigation terminal and the set DVL error parameter, and meanwhile, a fault generation module simulates sudden change and slow change faults; the DVL simulator and the AUV navigation terminal are in the same PC.

Images