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.
在对模糊定性仿真算法改进的基础上，提出了一类信息不完整动态系统的实时半定量故障预报方法。
Based on improvement of fuzzy qualitative simulation algorithm, a new semi-quantitative and real-time fault prediction method of a class of dynamic system with incomplete information is proposed.
本文对水下航行器制导控制半实物仿真系统的结构和功能作了详细介绍，并以此半实物仿真系统为试验平台，通过试验对实时调度算法进行应用和验证。
This paper introduces the frame and function of underwater vehicle control and guidance hardware-in-the-loop simulation system in detail, which actor as the test flat, through.
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