For the high risk and cost, long cycle of training status and lack of publicity and education platform by using the real submarine training existing in the training of manned submersible technology, three-dimensional interactivesimula-tion system was developed for the deep manned submersible launching and retrieve. Using 3ds Max to create three-dimen-sional model of the support ship, submersibles, A-frame and other relative structure, using Unity3D engine implementsma-nipulating interactive of submersible launching and retrieve process, A mathematical model for the movement of thehydraul-ic rod which drives the A frame and the method of helmet sight collision detection instead of a mouse hover to choose object is put forward, using virtual reality helmet as a visual display method, the whole process is simulated realistically on the launching and retrieve of the submersible. The simulation system having a high degree of interactivity and immersion, it can be used as training systems of the submersible launching operator and platform of e publicity and education for the deep diving technology.%针对现有载人深潜技术培训中采用实艇培训的风险大、成本高、培训周期长以及缺乏宣传教育平台的现状,开发载人深潜器布放回收的三维交互仿真系统.采用3ds Max创建支持母船、深潜器以及A型架等结构的三维模型,利用Unity3D引擎实现深潜器布放回收过程的操纵交互,提出驱动A型架旋转的液压杆运动数学模型以及头盔视线碰撞检测代替鼠标悬停的物体拣选方法,最终采用虚拟现实头盔作为视景显示方式,逼真的模拟深潜器布放回收的整个过程.该仿真系统具有可交互性和高度沉浸感,可作为深潜器布放操作人员的培训系统以及深潜技术的宣传教育平台.
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