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

作　　者：尹勇[1] 任鸿翔[1] 金一丞[1] 张秀凤[1] 

机构地区：[1]大连海事大学航海动态仿真与控制交通部重点实验室,辽宁大连116026

出　　处：《哈尔滨工程大学学报》2005年第4期435-440,共6页Journal of Harbin Engineering University

摘　　要：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.

关 键 词：虚拟现实 虚拟环境 深水航行器操纵仿真 视景系统 海底视景 机械手操作仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]