Simulation system of gravity aided navigation for autonomous underwater vehicle

Gravity Aided Inertial Navigation System (GAINS) is an important manner of the future underwater passive navigation. In view of the characteristics of underwater navigation, the simulation platform of navigation system for autonomous underwater vehicle has been developed based on Windows platform. The Autonomous Underwater Vehicle (AUV) dynamic model as well as path following controller and platform INS was built. The fractal interpolation algorithm was designed to recombine for large gravity anomaly field. Map-matching models were founded with gravity signal and gravity anomaly reference maps, while their key functions were simulated. The simulation platform is verified and analyzed through simulation. The results show that the architecture of the platform is reasonable and reliable, and the mathematic models and simulation algorithms of sub-systems are also valid and practicable.