Research On Work Flow Simulation Technology Of FROV

The Remotely Operated Underwater Vehicle has been used widely in many fields of the ocean exploitation. Along with the fast development of the ocean exploitation, the requirement of a ROV, which can perform more complicated missions is more urgent.()Motion simulation is one of the important performance tests of the ROV, scene simulation is also an important represent of visual reality technology, which produces a alternative simulation environment is personally on the scene and achieve a natural interaction between user and this environment. So the simulation technology is very important in the research of FROV.The relatively detailed work can be concluded as follows:1,The general structure and every system components are researched firstly. And the six-freedom motion simulation model is built up and the forces acted on FROV have been analyzed. The calculating method—Runge-Kutta method is applied to calculate the equation of mathematical model to prepare for motion simulation.2,The pitch and roll adjust tanks have been introduced, and the six-freedom motion equations of FROV was simplified by reasonable assumption to build the two-freedom of motion (pitch and roll) equations. The angle acceleration was figured out by the equations, then the pitch and roll adjustment system was realized.3,The 3D models of FROV and the seabed have been set up using the software Multigen Creator.4,In the course of scene simulation, and the Lynx part of Vega is utilized to develop the visual environment. The Oceans module is used for completing the real shipping environment relatively.5,The motion visual simulation of FROV has been carried out in visual scene through VC++ software with API functions...