AUV视觉系统的可视化技术研究与实现  

Technology of Visualization for AUV Optical Vision System

作　　者：王金华[1] 严卫生[1] 刘旭琳[1] 

机构地区：[1]西北工业大学航海学院,西安710072

出　　处：《系统仿真学报》2009年第12期3846-3849,3854,共5页Journal of System Simulation

基　　金：教育部新世纪优秀人才支持计划资助(教纪支[2005]290)

摘　　要：AUV视觉仿真系统是一个能够对AUV视觉系统的软、硬件等进行验证的实时半实物仿真系统。简要介绍了AUV视觉系统的基本理论,提出了较为完善的AUV半实物仿真系统的研究模型与软件框架;在Vega Prime中利用纹理亮度方法解决了彩色仿真图像灰度化的问题,实现了对黑白摄像管的模拟;采用一种复杂的光线能量衰减公式,逼真的模拟出海底AUV聚光灯效果;该系统同时还提供了对摄像机的简单仿真。开发和应用结果表明,该系统实时性好,效果逼真,对AUV视觉软、硬件系统开发、测试具有重要的意义。The presented visual simulation system for AUV optical vision is a real-time hardware-in-loop simulation system that is used for the demonstration of the hardware, software of AUV vision system. The concept of AUV vision system was introduced compendiously. The study model and architecture of whole system were proposed consummately. Besides, color dynamic image was transformed monochrome through intensity texture in Vega Prime. And it implements accurate simulation of black-and-white kinescope. In addition, a simulating the illumination effect produced by headlights on AUV was established through the complicated attenuation operational formula. The simulator also provides simulation of vidicon simply. The results of application show that this system is good real-time characteristics and the effect is realistic. This research is of important in test of the hardware and software of AUV vision system.

关 键 词：视景仿真 VEGA PRIME 自主式水下航行器 视觉 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]