Verification of unmanned underwater vehicle with velocity over 10 knots guidance control system based on hardware in the loop simulation

Underwater vehicles have many applications in scientific, military, and commercial area due to its autonomy. In many cases, the underwater vehicle usually adopts the control algorithm based on the tactical inertial sensor for the precise control. However the control algorithm using the tactical inertial sensor is not suitable for some underwater vehicle´s missions as like the decoy of the torpedo. This paper proposes the control algorithm of underwater vehicle which doesn´t needs the precise control. The control algorithm which is adopted with low cost MEMS inertial sensor is proposed for the underwater vehicle and the HILS experiment using 3 axes flight motion simulator (FMS) is performed for the verification of control algorithm under real environment and the results of the experiments are presented.