Hardware-in-the-Loop Simulation System for Underwater Vehicle Based on Unity3D

Authors

Fushen Ren, Northeast Petroleum University, Daqing 163318, China;
Yaqi Sun, Northeast Petroleum University, Daqing 163318, China;
Hu Qing, Northeast Petroleum University, Daqing 163318, China;
Zhaoliang Li, Northeast Petroleum University, Daqing 163318, China;
Pengyu Sun, Northeast Petroleum University, Daqing 163318, China;
Yukun Fan, Northeast Petroleum University, Daqing 163318, China;

Abstract

Abstract: In order to provide a simulation and test platform for the performance test, control algorithm analysis and operation training of underwater robot, a hardware-in-the-loop simulation system based on Unity3D is developed, which consists of a ground control terminal, a robot body and a three-dimensional simulation system. The system uses the same ground control terminal as the unified command input source of the three-dimensional simulation system and robot control system, and realizes the synchronization of the virtual object and robot body, real-time monitoring and parameters adjustment to the system. The position of the robot is collected by multiocular vision technology, and Kalman filtering processing is carried out on sensor data. The robot motion simulation results show that the actual motion path of the robot is basically the same as the simulation planning path, and the hardware-in-the-loop simulation system has good dynamic response and control system synchronization.

Recommended Citation

Ren, Fushen; Sun, Yaqi; Qing, Hu; Li, Zhaoliang; Sun, Pengyu; and Fan, Yukun (2020) "Hardware-in-the-Loop Simulation System for Underwater Vehicle Based on Unity3D," Journal of System Simulation: Vol. 32: Iss. 8, Article 15.
DOI: 10.16182/j.issn1004731x.joss.18-0845
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss8/15

First Page

1546

Revised Date

2019-03-12

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.18-0845

Last Page

1555

CLC

TP391.9

Recommended Citation

Ren Fushen, Sun Yaqi, Hu Qing, Li Zhaoliang, Sun Pengyu, Fan Yukun. Hardware-in-the-Loop Simulation System for Underwater Vehicle Based on Unity3D[J]. Journal of System Simulation, 2020, 32(8): 1546-1555.

DOI

10.16182/j.issn1004731x.joss.18-0845