High fidelity modeling and simulation of submarine in a commercial computer generated forces toolkit

In this paper, we present modeling and simulation of submarines that appear as secondary tactical elements within a high-fidelity virtual military training simulation. The simulation is realized with an integrated commercial computer generated forces toolkit. We aim to observe the dynamic behaviors of these platforms under the effect of hydrodynamic force-moments and physical conditions such as current, wave that belong to the tactical environment. Course keeping, deep and speed controllers have been obtained by using Linear Quadratic Regulator (LQR) technique. At the end of the study the simulation has been presented and results have been discussed.