A suite of tools for testing,
modeling, analysis, and simulation can greatly facilitate the
development and evaluation of gyrocompassing based Precision Azimuth
and Vertical Angle Measurement (PAVAM) systems and other azimuth
and attitude determination devices and modules. The Gyrocompass
Modeling and Simulation SystemTM (GMSS) which is especially developed
for these systems is used as a virtual laboratory to provide a
suite of software modules to simulate a detailed anatomy of a
PAVAM system.
The users can perform any kind
of virtual experiments they desire to explore the behavior of
a PAVAM system design under different combinations of conditions
for motion, sensor accuracy, and processing algorithms. The GMSS
can perform many virtual experiments that are costly or even impossible
in a real hardware system test.
• Windows based GUIs are
used to provide the GMSS user interface and data visualization.
• A 6DOF motion simulator is used to simulate motion and
disturbances such as vibration and tripod sinking in soil. Different
kinds of sensor errors and random noise are simulated, as depicted
in Figure 1.
The GUI of the 6DOF Motion Simulator
(Click
to see full page figure)
• An IMU simulator is used
to simulate different kinds of sensor errors and random noise,
as depicted in Figure 2.
The GUI of the IMU Simulator
(Click
to see full page figure)
• A gyrocompass and Kalman
Filter simulator is used to simulate coarse and/or fine alignment
processes and their algorithms, as depicted in Figure 3.
The GUI of the Gyrocompass and Kalman Filter Simulator
(Click
to see full page figure)
• Kalman Filter is used for
variables and parameters estimation.
• A Monte Carlo test controller is provided to automate
the iterated stochastic test process. Analysis and visualization
tools are provided to perform the statistics of the Monte Carlo
tests.
• Analysis and visualization tools are provided to perform
the statistics of the Monte Carlo tests.
• In addition to the simulation functions, the GMSS also
provides a suite of auxiliary tools which are used for real sensor
data acquisition, sensor modeling and analysis, system verification
and validation. The tools include: Stochastic signal analysis
tools---PSD/DFT, Allan Variance and statistical analysis, stochastic
signal generation, generic filter and Kalman filter design and
testing.
• With the GMSS connected to real external inertial sensors,
a real-time hardware-in-the-loop testing, modeling, and simulation
system can be achieved.
Based on the sensor parameters of
the system, GMSS provides gyrocompass accuracy in terms of: azimuth
accuracy, elevation/pitch accuracy and tilt/roll accuracy.
GMSS
Brochure