Research And Development Of Real-time Simulation Of Underwater Glider

Unmanned Undersea Vehicles(UUVs) is divided into Remotely Operated Vehicles(ROVs) and Autonomous Underwater Vehicles(AUVs). Underwater Glider mentioned in this thesis belongs to AUVs. It's a big complex system composed of carrier system, communication system, navigation system, sensor system, energy system and intelligent control system. On the one hand, before the Underwater Glider's reliability,stability and independent ability has been validated, the experiment of the Underwater Glider on the sea is dangerous. On the other hand, because marine environment is complex and dangerous, cost of the experiment is high and cycle is long. To solve the above problems, this thesis develops a research work of real-time simulation system of Underwater Glider, and successfully accomplishes it.In order to fully actualize the simulation real time, the platform carries out through half-physics modes. The system hardware is constitutive of self-piloting computer, the visual Underwater Glider computer and the visual display computer. Separates the self-piloting computer with the board installation and connects self-piloting computer with the visual Underwater Glider computer when simulating. The visual Underwater Glider is controlled by the control commands send from the self-piloting computer, and at the same time supply self-piloting computer with motion information, equipment condition information, navigation information and visual environment information. The visual display system receives position and the posture information of the visual carrier from visual Underwater Glider through the Ethernet, and then display it in cartoon pattern.The work to accomplish the thesis includes: MultiGen Creator three-dimensional modeling for visual Underwater Glider and seabed terrain used in the visual display system, establishing real-time three-dimensional vision procedure in MFC based on Vega, establishing sensor models including GPS,radio,TCM3 and Electrical machinery used in visual Underwater Glider system, network data exchange, connecting the three parts and debugging.By developing the real-time simulation platform of the Underwater Glider, this it successfully solve the two main problems in researching and developing the Underwater Glider, and achieves our anticipated goal. More reasonable, perfect simulation system also waits for research, and is also the main work in future.