Motion Filter of the Submarine Simulator: Part 1. Basic Theory and General Applications

Most of vehicle simulators, such as airplanes, cars, and ships have motion bases that provide the motion feeling of vehicle motions to the trainee or user. However, the motion base has a limit on its movement due to its constrained mechanism, so the motion of it is somewhat different from the real motion. Low frequency components of the vehicle motion make large movements, but a person feels these movements small. Therefore, the 'washout filter' that wash the low frequency components of signal (so the signal tends to its origin slowly) was developed in the field of airplane simulator. The 'classical washout filter' uses the forces acting on trainee as its inputs, but it is hard to determine many parameters in it appropriately. This paper proposed a new motion filter of a simulator: uses the motion states as inputs, provides the method of determining parameters, homing action, and measurement method of motion fullness. Using this proposed motion filter, the forces acting on the trainee on both real vehicle and simulator are compared, and the results are assessed by the ratio of fullness of motion realization. This part 1 paper deals with the basic theory and general applications, and the part 2 will deal with applications to a BB2 submarine.