Hardware in Loop Simulation on Autopilot Controller with MEMS AHRS for High Speed Unmanned Underwater Vehicle |
Hwang Arom,Yoon Seon-Il,Song Jee-Hun |
Department of Naval Architecture and Ocean Engineering Koje College,LIG Nex1 Co. Ltd.,Department of Naval Architecture and Ocean Engineering Chonnam National University |
MEMS형 자세측정장치를 이용한 고속 기동 무인 잠수정 자율 조종 제어기에 대한 HILS |
황아롬,윤선일,송지훈 |
거제대학교 조선해양공학과,LIG넥스원 Maritime 연구소,전남대학교 조선해양공학전공 |
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© 2012 The Korean Society of Ocean Engineers
Open access / Under a Creative Commons License
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Keywords:
Unmanned underwater vehicle, Autopilot controller, MEMS, AHRS, HILS |
핵심용어:
무인잠수정, 자율 조종 제어기, 마이크로전기기계장치, 자세측정장치, 하드웨어 사용 시뮬레이션 |
Abstract |
Unmanned underwater vehicles have many applications in scientific, military, and commercial areas because of their autonomy. In many cases, an underwater vehicle adopts a control algorithm based on a tactical inertial sensor for precise control. However, a control algorithm that uses a tactical inertial sensor is unsuitable for some underwater vehicle missions such as torpedo decoys. This paper proposes a control algorithm for an unmanned underwater vehicle that does not require precise control. The control algorithm proposed for an unmanned underwater vehicle adopts a low cost MEMS inertial sensor, and simulations using the specifications of the MEMS inertial sensor under development are performed to verify the control algorithm under a real environment. The results of these simulations are presented. |
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