Design and Implementation of Integrated Virtual Sensor simulator Unit for Hardware in the Loop Laboratory of Autonomous Underwater Vehicle

Articles in Press

Document Type : Power Article

Authors

1 Northern Research Center for Science & Technology, Malek Ashtar University Of Technology, Iran.

2 فریدونکنار، روبروی بیمارستان امام خمینی(ره)، بلوار سردار شهید فدایی، میدان شهیدان رحیمی، خیابان مالک اشتر، پژوهشکده شمال

Abstract

Evaluating performance of the integrated system and its subsystems of the autonomous underwater vehicle (AUV) such as sensors and actuators require the maybe expensive hardware in the loop laboratory (HIL). Modeling can be a cost-effective tool for validating hardware and software performance, performing missions, and thus reducing potential errors in marine missions which can be achieved through a relatively accurate dynamic simulation and modeling of equipment and environmental conditions inside the HIL. The purpose of this paper is to manufacturing a real-time virtual simulator unit of sensors used in AUV for to equip HIL. The suggested integrated simulator, simulate the output of the sensors used in the AUV such as pressure, GPS, inertial, magnetic and speed according to the technical characteristics and communication protocols of each sensor and send to on-board computer. The proposed integrated virtual sensor unit with user-friendly features can be easily added to the HIL and leads to a significant reduction in costs. Evaluating performance of the virtual sensor simulator unit in the HIL was performed in real time and the results indicate the appropriate performance of simulation and its comparability with real tests at sea.

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Main Subjects

Journal of Modeling in Engineering

Articles in Press, Accepted Manuscript
Available Online from 10 March 2024

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History

  • Receive Date: 20 May 2023
  • Revise Date: 26 February 2024
  • Accept Date: 10 March 2024

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