Self-propelled towing simulator for deep-sea mining system applicable to natural water bodies and simulation method using the same

A self-propelled towing simulator for a deep-sea mining system applicable to natural water bodies, the simulator comprising a floating body unit, a workbench, a propulsion system, a wave height determination system, an underwater acoustic positioning system, a flow velocity determination system, a radio communication system, a GPS positioning system, a gyro pose control system, a six-degree-of-freedom (DOF) platform, a central control cabinet, an experimental hydraulic lift rigid-tube model and a removable battery box, wherein the floating body unit is fixedly connected to the workbench through a cross beam structure, the central control cabinet and the removable battery box are respectively disposed at front and rear ends of an upper work surface of the workbench, the propulsion system is disposed at a tail part of the simulator, the wave height determination system, the underwater acoustic positioning system and the flow velocity determination system are all disposed on a lower work surface of the workbench, a middle part of the workbench is provided with a center-of-gravity projection hole, a working tower secured at the two side parts of the center-of-gravity projection hole is disposed on the workbench, the six-DOF platform is secured in a suspended manner at the upper part of the working tower, the gyro pose control system is secured in a suspended manner at the lower part of the six-DOF platform, a center-of-circle of the center-of-gravity projection hole, a center-of-gravity of the gyro pose control system and a center-of-gravity of the six-DOF platform all overlap with a vertical projection of the overall center-of-gravity of the simulator, six-DOF motion states including swaying, surging, yawing, rolling, pitching and heaving generated by a mining dredger are simulated through the collaborative linkage of the gyro pose control system and the six-DOF platform, the radio communication system and the GPS positioning system are secured on the two sides of the top of the working tower, an ultra-large wide-angle vision system is disposed at the top of the radio communication system, the experimental hydraulic lift rigid-tube model is connected to the center-of-gravity projection hole, or, passed through the center-of-gravity projection hole to be connected to the bottom of the gyro pose control system.