给出了半实物仿真系统的基本组成和工作原理，讨论了水下航行器运动的仿真模型和实时积分算法。
The basic organization and simulation principle of the system are presented, and the simulation model for the underwater vehicle and real-time integer algorithm are discussed.
本文提出将模型论、仿真算法和仿真可信度评估理论作为系统仿真学科的基础理论的观点。
In this paper, the author presented the viewpoint that System simulation is based on model theory, simulation algorithms and simulation credibility evaluation theory.
结果表明，该仿真系统结构合理可靠，各子系统采用的数学模型和仿真算法正确可信。
The results show that the architecture of the system is reasonable and reliable, and the mathematics model and simulation algorithm of the sub-systems are also valid and practicable.
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