Development of hardware-in-the-loop simulation system for land vehicle integrated navigation based on Matlab/xPC

A hardware-in-the-Loop simulation platform for INS/GPS/odometer integrated navigation system of land vehicle was designed and completed. The architecture of this platform, one host PC and two target PCs, was established based on Matlab toolbox of RTW and xPC target. This platform includes vehicle motion simulation subsystem and integrated navigation subsystem. Two xPC targets control these two subsystems separately. 2-DOF table is used to simulate the movement of vehicles in vehicle motion simulation subsystem. INS/GPS/Odometer is integrated in integrated navigation subsystem. Navigation softwares can be developed and tested in this platform, which can reduce costs and speed up the development cycle.