| AUV (Autonomous Undersea Vehicles) has large-scale applied prospect and potential in both military and civil application, for instance, the reconnaissance of ocean terrain,the recce of mineral resources and the reconnaissance of ocean pollution etc. Sure thing, for self-security while accomplishing different missions, AUV must have high ability of navigation control and mechanization.Traditional simulation research of navigation control often uses simulative curves to check the accuracy of the model, but using virtual reality technology, we could not only check the accuracy of the model, but also implement good interaction between people and computer and describes the simulation process and simulation environment of underwater directly. It is convenient for researchers to analyze and judge the process or result of simulation online through changing data information from different nodes to visible information which could be sense directly.Basing certain underwater experiment platform, this dissertation according to actual parameters of physical model and kinematic model provides two different methods to achieve the visible simulation of AUV. The main research works are as follows:1. The origin and development of visible simulation technology have been introduced simply.2. Basing on MATLAB and VRML, this dissertation provides and designs a visible simulation system for AUV which could accomplish the AUV model and virtual model construction of underwater, change position and angle data to visible information using virtual reality toolbox, and complete the visible simulation of AUV finally.3. This dissertation designs another visible simulation system basing on Vega and Creator as well, this system accomplishes AUV's virtual model and virtual environment underwater using Creator (a visible modeling software). Making use of Vega and its Application Programming Interface, the dissertation completes the management and drive of virtual models in the end. |
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