采用矢量建模与虚拟仿真技术,模拟自主水下机器人(Autonomous Underwater vehicle,AUV)环境感知功能,对目标探测传感器视域及目标特征进行矢量建模.根据目标探测传感器的特征参数,利用边界矢量点描述目标探测的视域范围.以三维地理信息系统理论为基础,采用基于面向对象数据模型和基于表面三角剖分的方法来构建水下目标的三维空间数据模型.以三角形的空间拓扑关系为基础,分析了任意两实体的空间拓扑关系,并将其用于水下未知目标探测.通过水下目标的建模实例和探测仿真实例验证了建模与目标探测方法的正确性和可行性.%Vector modeling and virtual simulation technique is used to simulate environment apperceive function for autonomous underwater vehicle (in short, AUV). The models of visual threshold of target detecting sonar and objective information in visual threshold are respective established based on vector modeling method. Boundary vector points are used to describe the visual threshold of sonar based on its characteristic parameters. Using 3D geography information system theory, 3D special data models of underwater objectives are established based on oriented object data modeling and triangle surface partition method. Special topology relations of two discretionary special entities are analyzed based on special topology relations and are used to objective detection of underwater sonar. The simulations instances of underwater objectives modeling and sonar detection indicate the method is correct and doable.
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