中文摘要：

随着远程水下航行器的出现,仅选用地面坐标系作为惯性系已不能满足精度要求。考虑地球曲率的影响,推导出水下航行器常用坐标系的方姿数据转换公式;并针对目前水下航行器与视景仿真之间坐标体系不匹配的问题,提出了用图形组合变换的方法实现AUVs解算方姿在视景通道中正确显示以及在不同坐标系下同步显示的功能。文中提出的坐标变换仿真方法具有一定的通用性,也可应用于其它远程UUVs、鱼雷等水下航行器的视景仿真建模,并且是开展水下航行器定位、路径规划等研究的有效手段。

英文摘要：

With the advent of the long distance underwater vehicles,using terrestrial coordinate system as the inertial frame can not satisfy the precision request.To take the influence of the earth curvature on underwater vehicles into account,the formulas for azimuth bearing conversion among the coordinate systems were proposed.Besides,a way was brought forward that can match for the coordinate systems between underwater vehicles and visual simulation by the graphics combination transformation.The drawing vehicle analytical orientations with accuracy in visual channels and displaying object synchronously in the midst of various coordinate systems were realized.The presented methods are of high generality and usability for the visual simulation developments of long-range UUVs and torpedoes,and are effective means of localization and path planning for underwater AUVs.