Virtual reality simulation testbed for underwater environments

Describes an application of the high level architecture (HLA) for simulation of an underwater environment. Models of the environment and underwater vehicles are developed based on the HLA object model template (OMT) and some existing models in the HLA object model library. A virtual reality based user interface has been developed and some standardization efforts using virtual reality modeling language and World Wide Web are discussed. The use of a testbed is illustrated by an example.