Hardware In Loop Testing

The method of testing your control hardware (i.e. your embedded system that receives state information and then runs algorithms to make control output decisions) to see if it is ready for final validation with everything else like the plant and sensors being simulated.

Model-Based Design

Basic Definitions

An open-loop control system is without feedback for dynamic adjustment of inputs. An example of this is putting logs on a fire (input) to make a room warmer (output) with no temperature control.

A modern home heating system is a closed-loop (or feedback) control system, with the furnace being the actuator as it takes commands from a thermostat and produces heat as a result.

Glossary

AHRS = attitude and heading reference system
GNSS = global navigation satellite system
IMU = inertial measurement unit
INS = inertial navigation system
MPU = motion processing unit

INS Basics

A MEMS IMU typically comprises three accelerometers and three gyroscopes. A tactical grade IMU is known for higher precision, robustness, and low drift.