船舶航行姿态反映了船舶在波浪和海况下的运动状态，直接影响到船舶的操纵性能、结构强度和乘客的舒适度，受不同海况的影响，船舶航行的横摆姿态角、升沉姿态位移受到限制，姿态估计效果不显著。因此，文章提出基于三维虚拟技术的船舶航行姿态估计方法。运用三维虚拟技术中的3D Studio Max软件经过船舶多角度图像与CAD图纸导入、创建场景、建立船舶基础形状和船体曲面等多个步骤，建立船舶三维虚拟模型，结合Unity3D提供的水资源包，构建船舶航行的海洋场景，通过船舶虚拟现实仿真运动方程实现船舶在不同海况环境中航行虚拟仿真，在虚拟仿真过程中运用船舶摇摆运动数学模型、船舶升沉姿态数学模型，实现船舶航行姿态估计。实验表明：该方法可实现船舶三维虚拟模型构建，并可在不同海况时，实现船舶航行横摆姿态角、升沉姿态位移进行估计，其应用效果较为显著。
The ship's navigation attitude reflects the ship's motion state in waves and sea conditions, which directly affects the ship's maneuverability, structural strength and passenger's comfort. Due to the influence of different sea conditions, the ship's yaw attitude angle and heave attitude displacement are limited, and the attitude estimation effect is not significant. Therefore, this paper proposes a ship navigation attitude estimation method based on three-dimensional virtual technology. By using 3D Studio Max software in 3D virtual technology, a 3D virtual model of a ship is established through the steps of importing multi-angle images and CAD drawings of the ship, creating scenes, establishing the basic shape of the ship and the curved surface of the hull, etc. Combined with the water resource package provided by Unity3D, the marine scene of the ship's navigation is constructed, and the virtual simulation of the ship's navigation in different sea conditions is realized by simulating the motion equation of the ship's virtual reality. In the virtual simulation process, the mathematical model of the ship's rocking motion and the mathematical model of the ship's heave attitude are used to estimate the ship's navigation attitude. Experiments show that this method can realize the construction of three-dimensional virtual model of the ship, and estimate the yaw attitude angle and heave attitude displacement of the ship under different sea conditions, and its application effect is remarkable.
2025,47(4): 178-181 收稿日期：2023-12-12
DOI：10.3404/j.issn.1672-7649.2025.04.029
分类号：U671.99
作者简介：关珂(1990-),女,讲师,研究方向为三维动画与数字媒体
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