Coordinate transformation of long distance underwater vehicles in visual simulation

With the advent of the long distance underwater vehicles, using terrestrial coordinate system as the inertial frame can not satisfy the precision request. To take the influence of the earth curvature on underwater vehicles into account, the formulas for azimuth bearing conversion among the coordinate systems were proposed. Besides, a way was brought forward that can match for the coordinate systems between underwater vehicles and visual simulation by the graphics combination transformation. The drawing vehicle analytical orientations with accuracy in visual channels and displaying object synchronously in the midst of various coordinate systems were realized. The presented methods are of high generality and usability for the visual simulation developments of long-range UUVs and torpedoes, and are effective means of localization and path planning for underwater AUVs.