Research and Design of UUV Navigation and Control Integrative Simulation System Based on Component

doi:10.4236/iim.2012.45027

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Intelligent Information Management, 2012, 4, 181-187

http://dx.doi.org/10.4236/iim.2012.45027 Published Online September 2012 (http://www.SciRP.org/journal/iim)

Research and Design of UUV Navigation and Control

Integrative Simulation System Based on Component*

Shengjie Wang, Fengju Kang

Underwater Information and Control State Key Lab, Marine College of Northwestern Polytechnical University, Xi’an, China

Email: xxm1960@126.com

Received April 21, 2012; revised May 21, 2012; accepted June 5, 2012

ABSTRACT

This paper uses the component-based technology and the object oriented simulation technology to analyze the UUV

navigation and control integration simulation system. We divide the system into components based on its structure, and

describe every component using active diagram. By using the component-based technology, the system described here

is easier to extended and be reused. At last, it realizes the whole UUV integrated navigation simulation course using the

system to validate the availability.

Keywords: UUV; Integrative Simulation; Component

1. Introduction

In order to increase the efficiency of the simulation soft-

ware development observably, using object oriented tech-

nology only during the developing process is not enough;

the existent simulation component should be used in si-

mulation program construction. The idea of component

based techno logy is to divide the application of the com-

plex system into some small and simplex components

which can be used in different develop environment. By

using the component technology, the system develop-

ment can be translated into the development and integra-

tion of the components, and along with the accumulate of

the component, the proportion of the development is de-

creasing while the proportion of integration is increasing

in the develop process of software, therefore, the effi-

ciency of the software development is increased greatly

but the cost is decreased.

The component based simulation is a very effective

form of the simulation software reuse, and lots of resear-

chers are worked at the modeling methods of the univer-

sal component in different area, for example, Paredis [1]

proposed a combined simulation method based on com-

ponent. Changjiang Wan [2] put a modeling method of

component prototype based on semantics forward to pre-

digest the unit simulation environment modeling process.

Peng Wang [3] advanced the system construction and the

realize method of the CGF according to simulation com-

ponent, which can create kinds of force model flexibly

and suit different operation platform.

UUV navigation and control system is composed by

inertial navigation part, Doppler speed meter, GPS re-

ceiver, integrated navigation system and control system

etc. For the purpose of reuse the simulation model con-

veniently, the model is encapsulated into component ac-

cording to its function and demand, then, the UUV navi-

gation and control system is constructed to realize the

integrative functio n and provide a digital simulation sup-

porting environment for the research of UUV.

2. System Framework

The main function of the navigation and control integra-

tive simulation system is to simulate the process that

UUV under the function of SINS and take DVL as assis-

tant navigation at the settled depth, then after stated time

of voyage, climbing to certain depth to modify the data

by receiving GPS signal. Figure 1 shows the framework

of the system, which include five parts: UUV dynamics

and kinematics calculation, multi navigation sensor data

simulation, integrated navigation data fusion, control sys-

tem simulation, data-base management.

The UUV dynamics and kinematics module receives

rudder information to accomplish UUV movement calcu-

lation and produce the trail data; the function of the multi

navigation sensor data simulation module is to produce

each navigation sensor’s data and its navigation calcula-

tion; the integrated navigati on data fusion module achieves

the pretreatment of the navigation data, the estimate and

measurement of the public state and the federal filter of

the state information; the control system simulation in-

cludes the transform of navigation parameter, the control

*National key laboratory of underwater information process and control

Foundation (9140C2305 041001).

S. J. Wang, F. J. Kang

182

Dynamics

kinematics

model

calculation

IMU

simulation

component

Doppler velocity

measurement error

Gyroscope

simulation

Doppler

navigation

simulatio n

Accelerometer

simulation

SINS

Calculation

component

GPS

Satellite

system

simulation

GPS

Receiver

simulation

GPS

Location

velocity

calculation

Control

information

Data access

Control

parameter

Navigation

parameters

conversion

control

system

model

SINS/DVL

local filter

Time&measur em ent

update

SINS/DVL/GPS

globlal filter

Time update

state estimation

Simulation data base

Navigationsensor simulation

The rudder an

le instructio

Integrated Navigation

Information Fusion

SINS

Simulation

GPS

Simulation

DVL

Simulation

Control system simulation

SINS/GPS

local filter

estimate

varianc e

Navigation

sensor Information

fusion UUV Model

parameters Simulation

scenario Simulatio

result n

Figure 1. Integrative simulation system framework.

system setting and the control model calculation; the si-

mulation data-base model composes the data of naviga-

tion sensor parameter, information fusion parameter,

UUV model parameter, simulation scenario information

and the simulation result.

3. The Design of Navigation and Control

Integrative Simulation System Based on

Component

According to its function and construction, the UUV na-

vigation and control integrative simulation system can be

divided into components showed in Figure 2.

IMU Simulator is the simulation component of the in-

ertial measurement unit; DVL Simulator is the simulation

component of Doppler speed meter; GPS Simulator is the

simulation component of the GPS. they encapsulated re-

levant navigation system model. SINS Navigation is the

calculation simulatio n componen t of the s trap -do wn in er-

tial navigation; it can calculate UUV’s navigation infor-

mation such as position, velocity, attitude, based on the

angle velocity and acceleration information supplied by

IMU. Combo Navigation is the integrated navigation si-

mulation component which can realize the information

fusion of all the navigation systems and get the integrated

navigation information. Control System is the component

of the UUV’s control system that in charg e of UUV mo-

vement control based on the integrated navigation infor-

mation provided by integrated navigation component.

Kinetic Model is the kinetics and kinematics simulation

component of UUV, which is used to calculate its move-

ment. The detailed description of the structure and work

flow of the IMU simulation component, SINS calculation

simulation component, DVL simulation component, GPS

simulation component and the integrated navigation si-

mulation component is as follows, along with the compo-

nent active diagram.

3.1. IMU Simulation Component

IMU simulation component can simulate the main error

of inertial navigation system component with diversified

precision, and create the measure data of the inertial de-

vice according to the given UUV trail and the error char-

S. J. Wang, F. J. Kang 183

acter of the inertial device. IMU simulation component is

structured by four levels: first, component interface level,

including trail information input interface (ITrail), event

information interactive interface (IEvent), gyroscope inf-

ormation output interface (IGyroscope), accelerator in-

formation output interface (IAccelerator), initialization

information interface (IInitialization); second, component

setting level, including the setting of accelerator error pa-

rameter (ParaAcc), gyroscope error parameter (ParaGyro),

device scale parameter (ParaScale) and the time parameter

(ParaTime); the third one is model calculation level that

makes up of math function class (MathFunction), noise

produce class (NoiseClass), frame transform class (Fra-

meClass), IMU sensor error simulation class (IMUSen-

sorErrClass), IMU sensor data create class (IMUSensor-

Class); and the last level is run management level that is

composed by thread function (ThreadFunc), timer function

(TimerFunc)and simulation operation class (SimRunClass).

The IMU simulation component active diagram is

showed in Figure 3.

After the start of the simulation component, the first

thing is to finish the IMU error model parameter setting,

then enter the simulation circle and request time promot-

ing, receive UUV trail information, including position,

velocity, attitude, angle velocity, acceleration, and trans-

form the coordinate for these information; simulate the

gyroscope and accelerometer measure principle to pro-

duce their output information, then, after sending the an-

gle velocity and acceleration information out, enter the

next simulation periods until the simulation finished.

Figure 2. The simulation component diagram of the navigation and control integrative system.

Figure 3. IMU component active diagram.

S. J. Wang, F. J. Kang

184

3.2. SINS Calculation Simulation Component

SINS calculation simulation component can complete the

calculation process of the strap-down inertial navigation

based on the information supplied by gyroscope and ac-

celerometer, it can be divided into four levels: first, com-

ponent interface level, including SINS navigation infor-

mation output interface (ISINSPara), event information

interactive interface (IEvent), gyroscope information input

interface (IGyroscope), accelerator information input int-

erface (IAccelerator), initialization information input

interface (IInitialization), integrated navigation informa-

tion input interface (INavigation); second, component

setting level, including the setting of initial alignment

parameter (ParaInitAligment), initial parameter (ParaInit)

and the time parameter (ParaTime); the third one is

model calculation level that makes up of math function

class (MathFunction), frame transform class (FrameClass),

the SINS navigation calculation class (ISINSClass); and

the last level is run management level that is composed

by thread function (ThreadFunc), timer function (Timer-

Func)and simulation operation class (SimRunClass).

The SINS simulation component active diagram is

showed in Figure 4.

At first, SINS component should be initialized and the

initial mission contains initial position, initial velocity

and the initial alignment of the digital navigation plat-

form; then calculates the attitude transformation matrix

from body reference frame to navigation reference frame

based on the angle velocity measured by gyroscope, ex-

tracts the attitude angle of UUV from the attitude trans-

formation matrix, meanwhile, calculates the velocity of

UUV by using both the attitude transformation matrix

and the information from accelerometer, and the latitude

and longitude of UUV is given by position matrix calcu-

lation; at last, exports the UUV navigation calculation

information by the output interface.

3.3. DVL Simulation Component

DVL simulation component can simulate the working

process of Doppler speed meter according to the UUV

trail information, and produce the Doppler speed meter

information, it contains four levels: first, component in-

terface level, including trail information input interface

(ITrail), event information interactive interface (IEvent),

velocity information output interface (IVelocity), initiali-

zation information interface (IInitialization); second, com-

ponent setting level, including the setting of initial pa-

rameter (ParaInit) and the time parameter (ParaTime);

the third one is model calculation level that makes up of

math function class (MathFunction), frame transform

class (FrameClass), Doppler speed meter simulation class

(DVLClass), Doppler error simulation class (DVLSen-

sorErrClass); and the last level is run management level

that is composed by thread function (ThreadFunc), timer

function (TimerFunc) and simulation operation class

(SimRunClass).

The DVL simulation component active diagram is

showed in Figure 5.

After the start of the simulation component, the first

thing is to finish the DVL error model parameter setting,

then enter the simulation circle and request time promot-

ing, receive UUV trail information and transform the co-

ordinate; simulate the Doppler speed meter work princi-

ple to produce its output information and send the infor-

mation to the integrated navigation simulation compo-

nent, then, enter the next simulation periods until the si-

mulation finished.

3.4. GPS Simulation Component

GPS simulation component can simulate the GPS satel-

lites navigation system and provide the ephemeris data;

itcan simulate the GPS receiver and choose th e satellites,

calculate the error, calculate the user’s position and ve-

locity according to the navigation message. GPS simula-

tion component contains four levels: first, component

interface level, including trail in formation input interface

(ITrail), event information interactive interface (IEvent),

GPS navigation information output interface (IGPSNavi-

Figure 4. SINS calculation component active diagram.

S. J. Wang, F. J. Kang 185

gation), initialization information input interface (IInitia-

lization); second, component setting level, including the

setting of initial parameter (ParaInit), system parameter

(ParaSys) and the time parameter (ParaTime); the third

one is model calculation level that makes up of math fun-

ction class (MathFunction), frame transform class (Fra-

meClass), noise produce class (NoiseClass), TLE data

manage class (TLEDataClass), SDGP calculation class

(SDGPClass), constellation simulation class (GPSSys-

temClass), GPS receiver simulation class (GPSReceiv-

erClass); and the last level is run management level that

is composed by thread function (ThreadFunc), timer fun-

ction (TimerFunc) and simulation operation class (Sim-

RunClass).

The GPS simulation component active diagram is

showed in Figure 6.

At the beginning, GPS simulation component receives

the initial information for initial setting, then enters the

simulation circle, receives the trail information to simu-

late GPS constellation, produces the GPS ephemeris after

GPS error simulation, judg es th e visible star and adds the

transmit error of the GPS signal to simulate the GPS re-

ceiver for pseudo-range and pseudo-range rate informa-

tion, after uses GDOP for selecting stars, calculates GPS

position and velocity information, then, sends the GPS

measured data to the integrated navigation simulation

component and enters the next simulation periods until

the simulation finished.

3.5. Integrated Navigation Simulation Component

Integrated navigation simulation component is used to

accomplish the fusion of all the navigation systems and

give the integrated navigation results. It contains four le-

vels: first, component in terface level, including SINS na-

vigation information input interface (ISINSPara), DVL

navigation information input interface (IDVLPara), GPS-

navigation information input interface (IGPSPara), inte-

grated navigation information output interface (INaviga-

tion), event information interactive interface (IEvent),

Figure 5. DVL simulation component active diagram.

Figure 6. GPS simulation component active diagram.

S. J. Wang, F. J. Kang

186

initialization information interface (IInitialization); sec-

ond, component setting level, including the setting of in-

tegrated navigation parameter (ParaInit), system parame-

ter (ParaSys) and the time parameter (ParaTime); the

third one is model calculation level that makes up of math

function class (MathFunction), frame transform class

(FrameClass), SINS/GPS sub-filter class (SINSGPSClass),

SINS/DVL sub-filter class (SINSDVLClass), informa-

tion assignment class (InfoAssignmentClass), federal fil-

ter class (FederalFilterClass); and the last level is run ma-

nagement level that is composed by thread function

(ThreadFunc), timer function (TimerFunc)and simulation

operation class (SimRunClass).

The integrated navigation simulation component active

diagram is showed in Figure 7.

Integrated navigation simulation component enters the

integrated navigation calculation process after parameter

and method setting, receives every navigation system’s

information through input interface according to the out-

put frequency of their navigation parameters, then each

sub-filter carry out calculation, then federal filter com-

pletes fusion calculation of the results from the subfilters

by using given information assignment method, and sends

the information to the control system component and SINS

calculation component.

4. Simulation Result

Initializing the UUV attitude angles as θ = 0˚, ψ = –90˚,

φ = 0˚, and setting the initial position as latitude 20˚0'0'',

longitude 12 0˚0'0'', th e initial velocity as 8 m/s, the initial

depth as 20 m underwater; and the goal position as lati-

tude 20˚0'0'', longitude 120˚30'0'' and depth 60 m under-

water. The modify periods is 12 min and it takes 3 min to

float near the surface for receiving GPS signal. The whole

voyage simulation curve is showed in the Figure 8.

Figure 7. Integrated navigation simulation component active diagram.

Figure 8. UUV move information view.

S. J. Wang, F. J. Kang 187

This figure can be divided into five parts, the top left

one is the motion trajectory in east and north plane, the

migration of UUV is accumulated after launch, so, after

720 s voyage, it floats to the surface for GPS navigation

modification, we can tell the modification of yaw angle

from the top right curve. The bottom left curve shows

how the depth changed. Firstly, UUV voyages in –60 m,

and then floats upward to –2 m to make GPS correction

at 720 s. After correction, UUV submerges to –60 m and

moves on. The curve in the right-middle shows the

change of elevation angle, and the curve in the right-

bottom shows the change of roll angles. From Figure 3

we can see the voyage simulation curve is similar with

the scenario track.

5. Conclusion

This paper designs and realizes each simulation module

of the UUV navigation and control integratio n simulation

system which was analyzed, and describes the structure

and working process of each module by activity dia-

grams. Through the validation of UUV integrated navi-

gation whole process simulation, the simulation modules

have well expansibility and reusability. And all of them

can be reused in different simulation programs. It is be-

neficial to the development and maintenance of simula-

tion program, and provides technical support of the de-

velopment of the larg e comprehensive simulation system

in the future.

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