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.
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。
In a driving simulation system, the interactivity and real time mainly depend on the performance of sensing and controlling system, which affects the practicability of the vehicle simulator directly.
在汽车驾驶模拟器中，传感控制系统的性能直接影响到整个汽车驾驶模拟系统的交互性和实时性，是衡量汽车驾驶模拟器实用性能的重要指标。
In a driving simulation system, the interactivity and real time mainly depend on the performance of sensing and controlling system, which affects the practicability of the vehicle simulator directly.
在汽车驾驶模拟器中，传感控制系统的性能直接影响到整个汽车驾驶模拟系统的交互性和实时性，是衡量汽车驾驶模拟器实用性能的重要指标。
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