自主式水下潜器虚拟仿真系统研究

Research on Visual Simulation System for Autonomous Underwater Vehicle

基于软件平台MultiGenCreatorPro和Vega开发出自主式水下潜器(简称AUV)虚拟仿真系统。论述了仿真系统体系结构、信息流、AUV运动模型与空间一致性方法;介绍了数据交换方式、主要的仿真功能、实时视景生成与显示技术;给出了AUV基于路径规划的三维仿真结果。结果表明,该仿真系统结构合理可靠,采用的运动模型和仿真算法满足了系统仿真的实时性要求,可逼真地演示AUV的自主运动过程。该仿真系统作为演示并验证AUV自主能力与动态控制方法正确性、有效性和实用性的先进手段和科学方法,已得到实际应用。

Based on software platform—MultiGen CreatorPro and Vega, the distributed virtual simulation system of autonomous underwater vehicle (in short, AUV) was developed. The system architecture, information flow, mathematics models of AUV and the method of space consistency were discussed. It is also introduced in this paper some technologies, such as the mode of data communication, simulation functions and the technique of real-time visual simulate and display. At last, some 3D frames were proposed, which simulated the process of AUV steering at the results of path planning. The result shows that the simulation system is reasonable and reliable, that the mathematics model and simulation algorithm also completely satisfy the real-time requirement, and that the simulation system can realistically demonstrate the simulation process of AUV. This simulation system has been successfully applied to validate the correctness, validity and practicability for the automation ability and dynamic control algorithm on the project of a certain AUV, which is researched and developed by Harbin Engineering University.