Hardware in Loop Simulation on Autopilot Controller with MEMS AHRS for High Speed Unmanned Underwater Vehicle

doi:2012.26.5.81

J. Ocean Eng. Technol. > Volume 26(5); 2012 > Article

J. Ocean Eng. Technol. 2012;26(5):81-86.
DOI: https://doi.org/10.5574/KSOE.2012.26.5.081

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

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.