在微机平台上实现的基于体绘制的虚拟内窥镜系统，验证了该算法的实时性和所生成图像的质量。
The virtual endoscopy system, which is implemented in microcomputer platform, validates the algorithm′s real time quality and the fine resulting image.
最后在虚拟仿真平台上结合地形勘察案例验证了任务调度算法，结果证明AUV能够在无人干预下自主地完成整个使命。
The task coordination algorithm was tested according to a terrain scanning scenario in a virtual system and demonstrated that an AUV can fulfill its mission autonomously.
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