一种水下航行器轨迹发生器的设计与仿真

为了减少水下航行器（AUV）导航系统算法开发过程中跑车试验及半实物仿真等所耗费的资金和时间，提出一种水下航行器轨迹发生器的设计方法。利用所给出的轨迹微分方程，反推得出生成轨迹参数公式和惯性信息公式，同时给出水下航行器在直航、转弯和爬潜等常见的运动状态下轨迹发生器的具体输入，并将生成的惯性量测值（加速度和陀螺值）输入捷联式惯性导航算法。验证结果表明，利用所设计的轨迹发生器可以为研究导航算法提供模拟的数据，具有工程实际意义。

Design and Simulation of a Trajectory Generator for Autonomous Underwater Vehicle

To reduce the cost of hybrid simulation in development of navigation system for autonomous underwater vehicle （AUV） ,we design a trajectory generator for AUV ,and present an algorithm of the trajectory generator. A general equation for generating trajectory parameters and inertial information is deduced, the control regulation is analyzed, and the input of the trajectory generator for AUV＇s straight-running, turning, climbing and diving conditions is offered. Verification results show that the proposed trajectory generator can generate data for simulation in developing navigation algorithms.