摘 要
水下机器人的设计工作完成后，还需要对该水下机器人的各项性能指标进行测试，以检验其各项性能的优劣。使用虚拟仿真模拟技术进行测试，既可以缩短研发的周期，又可以节省下大量的经费，并且还对提高系统的可靠性具有极其重要的意义。通过对水下机器人虚拟仿真模拟测试系统的研制，将视景仿真技术应用到测试所用的系统当中，可以在实验室通过计算机系统来模拟各类实际场景、水下机器人的操纵状况以及水下环境的干扰情况，完成水下机器人的性能测试评估工作。
本文首先对水下机器人及虚拟现实仿真技术的背景及其在国内外的发展趋势进行简单分析，然后对虚拟现实场景中的三维建模以及虚拟现实场景的生成方法进行简单的研究和总结，其中包括实时场景渲染软件Multigen-Paradigm Creator以及Multigen-Vega，并对Vega的场景渲染技术和Vega软件进行研究和总结。在以上研究和总结的基础上，利用Creator及Vega制作出一个虚拟的水下环境，并通过简单的测试试验，使得该场景可以在配置一般的个人计算机上进行流畅运行。最后，在总结各项工作的基础上，对未来进行展望。
关键词：虚拟现实技术；水下机器人环境测试；Creator；Vega；视景仿真
Abstract
Afterthe completion of the design work for underwater vehicles, it is needed to testits various performance indicators. Using virtual simulation test technology,the development cycle for underwater vehicles can be shorten, and a lot ofmoney for it can be save, and also the reliability of its system can beimproved.Through the visualsimulation technology is applied to test the system, the computer system in thelaboratory can simulate all kinds of the actual scene, control condition ofunderwater vehicles as well as the interference for underwater vehicles in theunderwater environment.
Thispaper carries on the simple analysis for the background and its developmenttrend both at home and abroad of underwater vehicles and virtual simulationtechnology. It is simply studied and summarized to the 3-D virtual realityscene modeling and the generation approach of virtual reality scene, includingreal-time scene rendering software Multigen -Paradigm Creator and Multigen-Vega. And the scene rendering technique of Vega and the Vega software arestudied and summarized. On the basis of the above research and summary, itcreates a virtual underwater environment by the use of the Creator and Vega,and after simple test experiment, the scene can be smoothly displayed ongeneral personal computer. Finally, the paper points out the main work in thefuture.
Keywords:virtual reality technology; environmental testing forUnderwater vehicles; Creator;Vega; visual simulation
目 录
第一章 绪论............................................................... 1
1.1 虚拟现实仿真技术的概述............................................. 1
1.2水下机器人简单介绍................................................. 2
1.3水下机器人课题的研究背景........................................... 3
1.3.1课题开展的目的和意义.......................................... 3
1.3.2国内外水下机器人的研究现状与进展.............................. 4
1.4论文内容安排....................................................... 6
第二章 虚拟场景的建模技术................................................. 8
2.1建模的基本概念..................................................... 8
2.2 建模软件的基本介绍................................................. 9
2.2.1MultiGen-Creator建模软件简介.................................. 9
2.2.20penFlight格式介绍........................................... 10
2.3MultiGen Creator建模的关键技术..................................... 11
2.4使用MultiGen Creator建立的AUV模型................................ 11
2.5本章小结.......................................................... 15
第三章 虚拟场景实时渲染.................................................. 16
3.1实时场景驱动软件Vega............................................. 16
3.1.1实时场景驱动软件Vega介绍.................................... 16
3.1.2LynX图形界面介绍............................................ 17
3.1.3API函数的简单介绍........................................... 19
3.2Vega的虚拟现实仿真程序........................................... 19
3.3基于Vega的仿真程序建立........................................... 21
3.4Vega仿真程序的实现与调试......................................... 21
3.4.1Vega的初始化设置............................................ 24
3.4.2物体对象（objects）及场景(scenes).............................. 25
3.4.3运动物体(Players)............................................. 27
3.4.4视觉通道(Channels)........................................... 28
3.4.5观察者(Observes）............................................ 29
3.4.6环境特效(Environments)及环境影响（Environments Effects）........ 31
3.4.7路径（Pathing）和路径工具（Navigator）........................ 33
3.4.8最终成品运行后的效果图....................................... 35
3.5 基于MFC的Vega应用程序......................................... 35
3.5.1MFC编程原理................................................ 35
3.5.2MFC的编程原理.............................................. 36
3.6 本章小结......................................................... 38
结 论................................................................... 39
参考文献................................................................. 41
攻读学士期间发表的论文和取得的科研成果................................... 42
致 谢................................................................... 43
水下机器人的设计工作完成后，还需要对该水下机器人的各项性能指标进行测试，以检验其各项性能的优劣。使用虚拟仿真模拟技术进行测试，既可以缩短研发的周期，又可以节省下大量的经费，并且还对提高系统的可靠性具有极其重要的意义。通过对水下机器人虚拟仿真模拟测试系统的研制，将视景仿真技术应用到测试所用的系统当中，可以在实验室通过计算机系统来模拟各类实际场景、水下机器人的操纵状况以及水下环境的干扰情况，完成水下机器人的性能测试评估工作。
本文首先对水下机器人及虚拟现实仿真技术的背景及其在国内外的发展趋势进行简单分析，然后对虚拟现实场景中的三维建模以及虚拟现实场景的生成方法进行简单的研究和总结，其中包括实时场景渲染软件Multigen-Paradigm Creator以及Multigen-Vega，并对Vega的场景渲染技术和Vega软件进行研究和总结。在以上研究和总结的基础上，利用Creator及Vega制作出一个虚拟的水下环境，并通过简单的测试试验，使得该场景可以在配置一般的个人计算机上进行流畅运行。最后，在总结各项工作的基础上，对未来进行展望。
关键词：虚拟现实技术；水下机器人环境测试；Creator；Vega；视景仿真
Abstract
Afterthe completion of the design work for underwater vehicles, it is needed to testits various performance indicators. Using virtual simulation test technology,the development cycle for underwater vehicles can be shorten, and a lot ofmoney for it can be save, and also the reliability of its system can beimproved.Through the visualsimulation technology is applied to test the system, the computer system in thelaboratory can simulate all kinds of the actual scene, control condition ofunderwater vehicles as well as the interference for underwater vehicles in theunderwater environment.
Thispaper carries on the simple analysis for the background and its developmenttrend both at home and abroad of underwater vehicles and virtual simulationtechnology. It is simply studied and summarized to the 3-D virtual realityscene modeling and the generation approach of virtual reality scene, includingreal-time scene rendering software Multigen -Paradigm Creator and Multigen-Vega. And the scene rendering technique of Vega and the Vega software arestudied and summarized. On the basis of the above research and summary, itcreates a virtual underwater environment by the use of the Creator and Vega,and after simple test experiment, the scene can be smoothly displayed ongeneral personal computer. Finally, the paper points out the main work in thefuture.
Keywords:virtual reality technology; environmental testing forUnderwater vehicles; Creator;Vega; visual simulation
目 录
第一章 绪论............................................................... 1
1.1 虚拟现实仿真技术的概述............................................. 1
1.2水下机器人简单介绍................................................. 2
1.3水下机器人课题的研究背景........................................... 3
1.3.1课题开展的目的和意义.......................................... 3
1.3.2国内外水下机器人的研究现状与进展.............................. 4
1.4论文内容安排....................................................... 6
第二章 虚拟场景的建模技术................................................. 8
2.1建模的基本概念..................................................... 8
2.2 建模软件的基本介绍................................................. 9
2.2.1MultiGen-Creator建模软件简介.................................. 9
2.2.20penFlight格式介绍........................................... 10
2.3MultiGen Creator建模的关键技术..................................... 11
2.4使用MultiGen Creator建立的AUV模型................................ 11
2.5本章小结.......................................................... 15
第三章 虚拟场景实时渲染.................................................. 16
3.1实时场景驱动软件Vega............................................. 16
3.1.1实时场景驱动软件Vega介绍.................................... 16
3.1.2LynX图形界面介绍............................................ 17
3.1.3API函数的简单介绍........................................... 19
3.2Vega的虚拟现实仿真程序........................................... 19
3.3基于Vega的仿真程序建立........................................... 21
3.4Vega仿真程序的实现与调试......................................... 21
3.4.1Vega的初始化设置............................................ 24
3.4.2物体对象（objects）及场景(scenes).............................. 25
3.4.3运动物体(Players)............................................. 27
3.4.4视觉通道(Channels)........................................... 28
3.4.5观察者(Observes）............................................ 29
3.4.6环境特效(Environments)及环境影响（Environments Effects）........ 31
3.4.7路径（Pathing）和路径工具（Navigator）........................ 33
3.4.8最终成品运行后的效果图....................................... 35
3.5 基于MFC的Vega应用程序......................................... 35
3.5.1MFC编程原理................................................ 35
3.5.2MFC的编程原理.............................................. 36
3.6 本章小结......................................................... 38
结 论................................................................... 39
参考文献................................................................. 41
攻读学士期间发表的论文和取得的科研成果................................... 42
致 谢................................................................... 43
