Motion Filter of the Submarine Simulator: Part 2. Application to a BB2 Submarine

Most of the vehicle simulators, such as airplane, car, ship, have motion bases that provide the motion feelings of vehicles to the trainee or user. However, the motion base has a limit on its movement due to its constrained mechanism, so the motion generated by the motion base is somewhat different from the real vehicle motion. Instead of ‘classical washout filter’, the part 1 of this paper proposed a new motion filter: it uses the motion states as inputs, provides the method of determining parameters, homing action, and measurement method of motion fullness. Using this motion filter, this paper deals with applications to a submarine. Since a submarine simulator does not have the graphics which show the environment change, so without a motion base, the trainee in it can not feel the situation even though some instruments indicate the submarine movements. Therefore, for the purpose of the simulator training, the motion base of a submarine simulator is highly required. Part 1 of this paper has dealt with the basic theory and general applications, and this part 2 deals with the applications to a BB2 submarine.