A flexible hardware in the loop simulator for a long range Autonomous Underwater Vehicle

This paper deals with a hardware simulator for a long range A UV. The first purpose was to provide the software developers team with a tool to integrate navigation algorithms without the real platform in the loop. In its actual state, the simulator is able to provide help not only to software development people, but also to every people involved in the process of defining and using the AUV platform. Hydrodynamic engineers are able to check the general frame of the vehicle with regards of maneuverability and energy consumption. Mechanic' engineers are able to check mechanic modifications with regards of stability and maneuverability. Engineers in automation are able to test several control laws. Mission managers are able to check the feasibility of a mission with regards of energy consumption and capabilities of the platform.