High Fidelity Hardware-in-the-Loop Simulation Development for Autonomous Underwater Vehicle

摘要

Typical autonomous underwater vehicle (AUV) development requires critical system design and many costly at-sea trials during which systems specifications can be validated. Modeling and simulation provides a cost-effective method of carrying out preliminary component or system (hardware and software) testing and verification. Especially the hardware-in-the-loop ( HIL ) simulation approach includes some level of system's hardware and software, and plays more important role in the development of an AUV. This paper presents the design and implementation of the HIL simulation for our AUV, and the AD RTS simulator and the VMIC reflective memory network are discussed. The HIL experiment results are provided to illustrate the performance.