基于虚拟现实技术的深水航行器操纵仿真系统的研究

Research on simulation system based on virtual reality technology for handling underwater vehicle in deep sea

深水航行器操纵仿真系统可用于人员训练、深水航行器性能及相关设备性能的研究.文章介绍了基于虚拟现实技术的深水航行器操纵仿真系统的体系结构设计、功能特点和六自由度水动力数学模型.针对海底视景具有覆盖范围广、数据量大等特点,提出了一种海底虚拟场景的建模方法和高效视景数据库的设计方法,并对视景驱动程序需要重点解决的几个问题:探照灯照明效果、机械手深海作业、声呐测距仿真、深海热液矿动态仿真和多通道视景系统的同步等作了深入介绍.这些技术和方法已成功应用于深水航行器操纵仿真系统的研制.

A simulation system for an underwater vehicle in deep sea is useful for training crew, researching vchicle specifications and related devices, and other functions. Incorporating three realisms of a simulation systembehavioral realism, operating environmental realism and physical realism-the architecture, functional features and a 6 degree of freedom （DOF） hydrodynamic mathematical model of simulation system based on virtual reality technology for handling an underwater vehicle in deep sea is introduced. According to the features of a deep sea terrain virtual environment, key method and technologies were applied to the simulation system： technique for modeling deep sea terrain, high efficiency data structure for visual database, searchlight effect in deep .sea, simulation of manipulator operation, sonar simulation, hot liquid mine simulation and synchronization method for visual system with multi-channel.