面向VR航海模拟器的虚拟手交互方法研究  

Implementation of virtual hand interaction for VR navigation simulator

作　　者：陈立家[1,2] 张子健 郝国柱 李世刚 王凯[1,2] 黄立文[1,2] CHEN Lijia;ZHANG Zijian;HAO Guozhu;LI Shigang;WANG Kai;HUANG Liwen(School of Navigation,Wuhan University of Technology,Wuhan 430063,China;Hubei Key Laboratory of Inland Shipping Technology,Wuhan 430063,China;AVIC Aviation Simulation System Co.,Ltd.,Shanghai 201100,China;Changjiang River Administration of Navigational Affairs,MOT,Wuhan 430063,China)

机构地区：[1]武汉理工大学航运学院,湖北武汉430063 [2]武汉理工大学内河航运技术湖北省重点实验室,湖北武汉430063 [3]中航航空模拟系统有限公司,上海201100 [4]交通运输部长江航务管理局,湖北武汉430063

出　　处：《中国航海》2023年第3期135-144,共10页Navigation of China

基　　金：国家自然科学基金面上项目(52271368)。

摘　　要：为促进航海模拟器的发展,利用虚拟现实技术高沉浸感以及可交互性的特点构建虚拟现实航海模拟器,重点研究其人机交互问题。以HTC Vive、Leap Motion为硬件载体,通过Unity构建虚拟船舶操纵场景;采用层次包围盒树技术和立体模型堆积算法对虚拟驾驶台控件进行高效的碰撞检测;根据实际船舶操纵特点建立虚拟手操纵方法,并引入反向运动学算法对操纵过程中的虚拟手姿进行实时优化。仿真结果表明,采用改进后的碰撞检测算法运行帧率提高了23.1%,经反向运动学算法优化后手姿稳定性提高了50.8%,实现了高沉浸感与高真实感的船舶操纵,解决了传统虚拟现实仿真中人机交互真实感不足的问题。The application of virtual hand for human-computer interaction in VR navigation simulator is studied.HTC Vive virtual reality headset and Leap Motion tactile controller are selected as the hardware devices and software Unity is used to create ship handling scenes.The hierarchical bounding box tree technology and the three-dimensional model stacking algorithm are used to perform efficient collision detection in the virtual bridge controls.A virtual hand manipulation method is developed based on the actual manipulation characteristics of ships.An inverse kinematics algorithm is introduced to optimize the virtual hand posture during dynamic manipulation.Simulations show that the running frame rate of the improved collision detection algorithm is increased by 23.1% and the hand posture stability is improved by 50.8% after the optimization of the inverse kinematics algorithm.The operational realism of the navigation simulator is significantly improved by the design.

关 键 词：航海模拟器 虚拟现实 虚拟手 碰撞检测 反向运动学 

分 类 号：U666.158[交通运输工程—船舶及航道工程]