该视景仿真系统无论从场景的显示和更新速率上、还是在视景的实现功能和对油轮实时操纵的效果上都是比较成功的。
The visual simulation system is very successful not only from the point of scene display and updating speed, but also from the point of scene function and the effect of driving oil tanker.
仿真结果表明，该方案在保证伺服系统的快速精确跟踪性的同时，对系统参数变化和阻力扰动具有很强的鲁棒性。
The simulation results show that the control scheme not only can enhance fast tracking performance, but also has a strong robustness to parametric variations and resistance disturbances.
仿真表明，与传统四元数算法比较，该方法在解算系统姿态的同时，能够较好地平滑噪声的影响。
The simulation results show that compared with the traditional quaternion algorithm, the method can smooth the effect of noise while resolving the system attitude.
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