Design of Marine Virtual Simulation Experiment Platform Based on Unity3D

Design and Implementation of a Modular UUV Simulation Platform

“…The indicators discussed in Table 1 prove that the HIL simulation system has good environmental compatibility and performance to meet the task needs, thanks to our simulation platform. To further highlight the superiority of our simulation platform, eight indicators are compared between our simulation platform and the most representative underwater simulation platforms, MVSPU [ 30 ], Stonefish [ 31 ], and UUV Simulator [ 28 ] from three aspects, as detailed in Table 2 . In conclusion, our simulation platform has unique advantages in simulation accuracy, architecture design, and user experience.…”

“…Based on the simulation architecture of the UUV simulator, the simulation of hybrid autonomous underwater vehicle was realized in [ 29 ], and the control strategy based on PID was verified. Nie et al [ 30 ] adopted the strategy of combining fluid mechanics software and Unity3D to assist in the construction of a virtual ocean environment to simulate the working state and process of the UUV under different conditions; this simulation platform will be abbreviated as MVSPU in the following. In [ 31 ], a simulation platform for an intervention autonomous underwater vehicle (I-AUV) was proposed, characterized by providing advanced fluid dynamics based on actual geometry, a simulation of underwater sensors and actuators, and a realistic rendering of the underwater environment and ocean surface.…”

“…The main indicators to evaluate the simulation platform are simulation accuracy, development difficulty, and practicability. However, most of the existing UUV simulation platforms have poor universality due to low accuracy of environment modeling, difficulty in secondary development, and transitioning to hardware platforms [ 28 , 29 , 30 , 31 , 32 , 33 ]. To overcome the above shortcomings, this study designs and implements a modular UUV simulation platform to test the autonomy schemes of UUVs.…”