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AUVSim

AUV Sim simulates the behavior of an underwater vehicle, such as an autonomous underwater vehicle (AUV), autonomous underwater vehicle (UUV), mini-submarine (manned or unmanned), remotely operated vehicle (ROV), and includes the following features:
●  Realistic six degree of freedom simulation, including:
- User - configurability, allowing user to position and specify properties of vehicle components,
- Performance of actuators and static bodies, including added mass effects,
- Environmental effects, including tide and sea-state,
- Wave response model: The motions are calculated via the shape of the sea surface as well as the vehicle's velocity with respect to the waves. A user interface dialog allows the amplitudes of response to be scaled independently for surge, sway and yaw.
●  Control algorithms to optimally control the actuators to perform a chosen task, including waypoint following and dynamic positioning;
●  Auto-tuning algorithms to optimize the performance of the controllers for the specific vehicle;
●  Serial communications - sensor outputs include NMEA, TCM2, PD6;
●  Analog input and output - for example, from external console, or input from measurement of actuator position;
●  Record and Playback;
●  Simple, intuitive, user interface and fully configurable communications;
●  Wire-frame  (view from above, east and south) views, 3D external view, Chart view;
●  NMEA 2000 interface (CAN Bus) supported.