Hardware in the Loop Simulation on Micro Electro Mechanical System Attitude Heading Reference System for Small Unmanned Underwater Vehicle

This paper proposes the result of hardware in the loop simulation (HILS) for performance evaluation about a small attitude heading reference system (AHRS) based micro electro mechanical system (MEMS) suitable for small unmanned underwater vehicle. Unmanned underwater vehicles (UUV) have many applications in scientific, military, and commercial area due to its autonomy and the navigation system is most important system for unmanned underwater vehicle because the correct position information is essential for autonomous missions. Since GPS-signal is not accessible underwater, the inertial navigation system (INS) have usually been used as the navigation system for underwater vehicle. The MEMS AHRS will be good alternative for the inertial sensor for INS of small UUV. Hardware in loop simulation (HILS) was performed to validate the developed MEMS AHRS with flight motion simulator and the results of HILS showed that the developed MEMS AHRS is capable of providing the attitude information under roll free and no roll free condition.