Visual Motion Simulation Of USV By Using Vega Prime

As an important research topic of Virtual Reality,visual simulation technology has been widely used in military and commercial fields.Unmanned Surface Vehicle(USV)is the important research content of unmanned ship,it could improve the efficiency and safety of scientific research by using visual simulation technology to restore the surface experiment scene of USV in real time.This paper proposes a visual simulation system of USV based on Vega Prime,which achieved visual motion simulation of the"LanXin" USV of Dalian Martime University.The main contents of this paper is just as following:Firstly,introduce the current research status of visual simulation and USV,and determine the main requirements of this system.According to the requirements,divide the visual simulation system into visual simulation and dynamics simulation,and introduce the main function and implementation scheme of these two parts respectly.Secondly,achieve the visual simulation part,create the 3d model of "LanXin" USV and LingShui Wharf and Skye Bridge using Multigen.Creator,and achieve the simulation scence and marine effect by Vega Prime.Thirdly,achieve the dynamics simulation part,build the dynamical model of"LanXin" USV based on MMG modeling theory,and verify it in the Simulink environment,then convert the simulation model into C++ code by using RTW real-time simulation ToolBox.Finally,achieve the development of visual simulation and dynamics simulation application program based on MFC programing framework in Mircrosoft Visual Studio 2008,and create the network interface based on Socket to transfer position and posture information,thus achieving the motion control and visual simulation system.