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中文摘要：
为了对多AUV系统的体系结构、协调控制策略等进行演示和验证，文中基于实时网络提出了一种新型的多AUV虚拟仿真测试平台；在此基础上，研究了该虚拟仿真测试平台实时仿真技术方案的结构与组成，并对其实时网络通讯方法，仿真计算机的实时仿真方法等关键技术进行了详细的说明，最终给出了多AUV协同航行的实时仿真视图；试验结果表明该技术方案工作可靠、使用方便、易于开发与维护，完全能够满足多AUV虚拟仿真测试平台进行仿真测试的需要。
英文摘要：
In order to demonstrate and validate the Multi--AUV system＇ s architecture, coordination and control strategies, a new type of Multi--AUV virtual simulation test platform is presented based on real--time network. On this basis, the real--time simulation technolo- gy structure and composition of The testing platform is given, such as Real--time network communication method, computer Real-time simulation method are disccused, finally, a real--time simulation view of Multi--AUV navigation was given. The experimental results show that the technology is reliable and easy to use, develop and maintenance, fully able to meet the real--time simulation testing needs.
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