Hardware in the Loop Simulation on Micro Electro Mechanical System Attitude Heading Reference System for Small Unmanned Underwater Vehicle

摘要

This paper proposes the result of hardware in the loop simulation(HILS) for performance evaluation about a small attitude headingreference system (AHRS) based micro electro mechanical system(MEMS) suitable for small unmanned underwater vehicle. Unmannedunderwater vehicles (UUV) have many applications in scientific,military, and commercial area due to its autonomy and the navigationsystem is most important system for unmanned underwater vehiclebecause the correct position information is essential for autonomousmissions. Since GPS-signal is not accessible underwater, the inertialnavigation system (INS) have usually been used as the navigationsystem for underwater vehicle. The MEMS AHRS will be goodalternative for the inertial sensor for INS of small UUV. Hardware inloop simulation (HILS) was performed to validate the developedMEMS AHRS with flight motion simulator and the results of HILSshowed that the developed MEMS AHRS is capable of providing theattitude information under roll free and no roll free condition.