][]  
Article  
Advances of the Armada de la República de Colombia in  
the Design and Implementation of an Immersive Riverine  
Combat Boat Simulator Prototype  
Avances de la Armada República de Colombia en el  
Diseño e Implementación de un Prototipo de Simulador  
Inmersivo de Bote de Combate Fluvial  
Luis Escorcia Valera 1∗ and Aldo Lovo Ayala 2  
1
Facultad de Ingeniería, Universidad Autónoma del Caribe, Barranquilla, 080003, Colombia; lcescorciavalera@gmail.com  
2
Decanatura de Investigación y Doctorado (DIDEN), Escuela Naval de Cadetes “Almirante Padilla”, Armada Nacional de Colombia,  
Cartagena, 111321, Colombia; aldo.lovo@enap.edu.co  
∗
Correspondence: lcescorciavalera@gmail.com  
Citation: Escorcia, L.; Lovo, A. Advances of the Armada de la República de Colombia in the Design and Implementation of an  
Immersive Riverine Combat Boat Simulator Prototype. OnBoard Knowledge Journal 2025, 1, 7.  
https://doi.org/10.70554/OBJK2025.v01n01.05  
Received: 15/05/2025, Accepted: 21/06/2025, Published: 10/07/2025  
DOI: https://doi.org/10.70554/OBJK2025.v01n01.05  
Abstract: La Armada República de Colombia (ARC) is globally recognized for its active role against illegal groups.  
Due to the need for adaptability in diverse geographical environments, the training of its personnel, and efficiency in  
resource utilization, the ARC is developing an advanced technological option to complement and enhance riverine  
combat training at the Marine Infantry training schools. This is achieved through the integration of a mechanical  
degrees-of-freedom system with immersive visualization generated by virtual scenario-generative software, and the  
reinforcement of river combat doctrine in the country’s rivers. Emphasis is placed on the roles of the pilot and gunner,  
allowing instructors to monitor the development of skills and knowledge required on the battlefield while respecting  
human rights. Currently, the project is under development and progress has been made in the design of the mechanical  
platform, the instrumentation required for pilot training, and integration with a combat simulator. The interconnection  
network has been designed, and the visualization systems have the selected equipment ready for implementation. Tests  
of the mentioned components through a scale prototype show how effective these types of simulators are in qualitatively  
enhancing training in military schools.  
Keywords: Immersion; River combat; Simulator; Technology; Training  
Resumen: La Armada República de Colombia (ARC) es reconocida mundialmente por su papel activo contra grupos al  
margen de la ley. Por necesidades de adaptabilidad en entornos geográficos diversos, de capacitación de sus hombres, y  
por eficiencia en el uso de recursos, la ARC desarrolla una opción tecnológica avanzada para el complemento y la mejora  
del entrenamiento de combate fluvial en las escuelas de formación de infantería de marina mediante la integración de un  
sistema mecánico de grados de libertad con visualización inmersiva generada por software generativo de escenarios  
OnBoard Knowledge Journal 2025, 1, 7.  
https://revistasescuelanaval.com/obk/  
© 2026 by authors.  
Licensed by Escuela Naval de Cadetes "Almirante Padilla", COL.  
This article is freely accessible and distributed under the terms and conditions  
of Creative Commons Attribution (https://creativecommons.org/licenses/by/4.0/).  
OnBoard Knowledge Journal 2025, 1, 7  
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virtuales y el refuerzo de la doctrina de combate en los ríos del país. Se hace énfasis en los roles del piloto y artillero,  
permitiendo que al personal instructor el seguimiento del desarrollo de habilidades y conocimientos requeridos en el  
campo de batalla y en el respeto de los derechos humanos. Actualmente, el proyecto se encuentra en desarrollo y se  
han logrado avances en el diseño de la plataforma mecánica, la instrumentación requerida para el entrenamiento del  
piloto y la integración con un simulador de combate. La red de interconexión se encuentra diseñada y los sistemas  
de visualización ya cuentan con los equipos seleccionados para su implementación. Las pruebas de los componentes  
mencionados a través de un prototipo a escala, muestra lo efectivo que son este tipo de simuladores en el incremento  
cualitativo del entrenamiento en las escuelas militares.  
Palabras clave: Combate fluvial; Entrenamiento; Inmersión; Simulador; Tecnología  
1. Introduction  
The public order situation experienced by the country over recent decades has positioned the Colombian  
National Navy (Armada Nacional de Colombia, ARC) as an international benchmark in riverine warfare [14],  
as well as in the training of Marine Corps personnel for the acquisition and development of the competencies  
required to integrate a riverine unit [17], ranging from boat handling to weapons synchronization [9]. The  
costs associated with this training such as equipment wear, personnel transportation [13], and preventive  
and corrective maintenance, are typically high. In addition, the limited availability of resources such as fuel  
and ammunition [  
doctrine and the correction of critical errors, such as proper boat positioning for firing or enabling the gunner  
to effectively engage targets [ ]. Furthermore, the availability of these courses at the Riverine Combat School  
6] restricts feedback opportunities and, consequently, hinders the assimilation of riverine  
7
(ESCOFLU) is constrained by the four boats assigned for instruction in riverine combat, riverine pilot, and  
riverine gunner courses [11].  
This context encourages the implementation of simulation technologies that facilitate student learning  
while reducing the costs and risks associated with full training aboard a riverine combat boat. Although  
ARC schools have virtual training rooms [8], these do not provide a fully immersive experience and, in most  
cases, are acquired from foreign manufacturers, which limits the customization, modification, and updating  
of training missions [1].  
This project aims to design a prototype of an immersive riverine combat boat simulator, to be developed  
domestically by Navy personnel and collaborators within naval facilities. This approach ensures the develop-  
ment of a simulator model tailored to the needs of riverine combat doctrine, the competencies established in  
academic curricula, the evaluation rubrics defined by instructors, and the learning styles of students.  
The structure of this article is organized as follows: Section 2 presents the main contributions of this work.  
Section 3 describes the methodology used for the design of the mechanical platform, virtual environment,  
visualization system, and scale prototype. Section 4 presents the results of the design process and the scale  
prototype implementation. Finally, Section 5 summarizes the conclusions and outlines perspectives for  
continuing the development of the full-scale immersive simulator.  
2. Contributions  
This work presents the following contributions:  
i
The design of an immersive riverine combat boat simulator prototype, integrating a mechanical motion  
platform with a virtual simulation environment to support pilot and gunner training.  
ii  
iii  
The development of a Stewart-type mechanical platform concept with two to three degrees of freedom,  
capable of reproducing realistic motion dynamics and supporting representative operational loads.  
The definition of a semi-immersive visualization and simulation architecture, aligned with riverine  
combat doctrine, enabling the generation of performance metrics for training and evaluation.  
 
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iv  
The implementation and validation of a scale prototype, demonstrating the feasibility of system  
integration, motion control, and interaction between the mechanical platform and the virtual combat  
simulator.  
3. Methodology  
The prototype design consists of the following essential components: a mechanical platform that em-  
ulates the movements of the BOSTON WHALER Piraña-type boat used by the Navy in riverine combat,  
enabling training in the pilot role; a virtual environment that simulates the natural combat scenario, in-  
cluding details characteristic of Colombian geography, providing an immersive experience together with a  
visualization system; and a gunnery training system that interacts with the virtual simulation and generates  
evaluation metrics for the riverine gunner role.  
3.1. Mechanical Motion Platform  
Given the dynamics of the boat, motion simulation can be approximated based on two of the six axes  
shown in Figure 1. These basic movements are: rotation about the y axis or transverse axis (pitch), which  
occurs when the vessel is accelerating or when it is subjected to the undulation of the water surface; and  
rotation about the x axis or longitudinal axis (roll), which occurs when the boat heels to reorient to port or  
starboard [20]. Strictly speaking, motion can occur along all axes; however, these two are the most significant  
in this case, since in a river the dynamic effect of tides and large waves on the boat is much smaller than at  
sea. Additionally, this reduced effect can be sufficiently simulated through the relative motion of the visual  
projection of the environment. Nevertheless, in the pursuit of increased realism, a third basic order of motion  
may be added: translation along the z or vertical axis (heave) [15]. The result of the above analysis indicates  
that the mechanical platform should provide two to three degrees of freedom to produce an immersive  
experience.  
Figure 1. Reference axes for the analysis of boat motion.  
Source: The authors.  
3.2. Weight Analysis of the Mechanical Platform  
In the weight analysis of the elements that make up the simulator prototype, conducted to determine  
the capacity and type of actuators to be implemented, it was established that the mechanical platform would  
support a crew weight between 800 kg and 1,000 kg, depending on the number of people on board, their  
body weight, and protective equipment. The weight of weapons and ammunition ranges from 100 kg to  
300 kg [10], depending on the type of weapon and the roles of each crew member within the boat’s tactical  
configuration [10;12]. The estimated weight of the boat model itself is between 100 and 150 kg. Altogether,  
the static load would be approximately 900–1,100 kg. Additionally, the dynamic load must be considered;  
taking into account the type of motion, the expected acceleration should not exceed 5 m/s². This corresponds  
to approximately 50% additional load [  
2]. Consequently, the initial analysis of mobile platform options  
focuses on a payload range of 1 to 2 tons. Lower payload capacities are also possible; however, they would  
   
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limit the amount of equipment on board and the range of exercises that could be conducted in the simulator  
prototype, as weight would need to be reduced to match the load capacity.  
3.3. Virtual Simulator  
A comparison was conducted among available software solutions for the generation of virtual combat  
environments [4]. Although these platforms offer different options in mission creation and levels of realism,  
all require a computer capable of rendering and processing large-scale graphical data, as well as sufficient  
connectivity to interact with users through peripherals assigned to each role. Therefore, a design criterion is  
that the system must be equipped with a state-of-the-art processor and graphics card, as well as a display  
with a refresh rate above 144 Hz, high resolution to achieve the required level of detail and clarity such as  
Full HD (1920×1080) and 4K Ultra HD (3840×2160) and a screen size greater than 32 inches.  
The simulation software must generate the operational environment of the boat along the river and  
surrounding areas, interacting with the mechanical platform [18] and the gunner’s role, while accounting  
for the pilot’s possible maneuvers. It must generate target contacts and evaluation metrics to assess firing  
effectiveness. Gunner training requires a sensor system capable of tracking weapon position and shots  
fired, following the gunner’s actions in real time in response to training exercises and enabling optimal  
performance evaluation [3].  
3.4. Visualization System  
The implementation of an immersive simulator prototype in military training aims to generate a  
sense of immersion [19] among the crew, reflecting their roles and spatial distribution from their respective  
viewpoints, as shown in Figure 2. In this project, particular emphasis is placed on the pilot’s role in executing  
boat maneuvering operations and on the gunner’s role in the detection and engagement of contacts. A  
semi-immersive category was selected, employing special display devices such as wall-sized screens [16].  
Figure 2. Crew positions on the riverine combat boat [5].  
Source: The authors.  
4. Results  
The project is currently in the execution phase; therefore, the final immersive riverine combat boat  
simulator prototype has not yet been completed. However, a set of designs, a scale prototype, and selected  
equipment can already be identified, which are expected to lead to a successful final product.  
4.1. Mechanical Platform Blueprints  
Based on the load and motion analyses conducted, it was determined that the mechanical platform  
would correspond to a three-degrees-of-freedom Stewart-type platform, capable of supporting a load between  
1,000 kg and 2,000 kg. The platform would use three three-phase motors rated between 3 HP and 4 HP, each  
equipped with a brake and encoder, and controlled by variable frequency drives. Figure 3 shows the platform  
schematic, the distribution of the motors, and the mechanical joints that enable the movements required to  
provide an immersive experience for users in their different roles.  
   
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Figure 3. Mechanical platform diagram.  
Source: The authors.  
4.2. Virtual Simulation Network Design  
According to the hardware requirements defined by the selected virtual environment generation  
software, as well as the roles established by the nature of military doctrine training and naval schools, the  
network design shown in Figure 4 was determined. This design includes a server connected through a  
router to the systems assigned to the pilot and riverine gunner roles, as well as the projectors selected for  
visualization via Wi-Fi.  
Figure 4. Virtual simulation network diagram.  
Source: The authors.  
The equipment required for the server was selected with the following technical specifications: Intel  
Core i9-12900K processor, 64 GB DDR4 RAM, NVIDIA GeForce GTX 1080 GPU, and a 5 TB SSD. The client  
systems have similar specifications, except for graphics processing capacity, as they are equipped with an  
NVIDIA RTX 3080 GPU, since these systems handle video processing and include local storage of 1 TB SSD,  
as they only require storage of local information.  
4.3. Visualization Design and Equipment  
Plans were developed to define the location of the projection surface relative to the positions and view-  
points of the pilot and gunner, based on proper visualization requirements. Figure 5 shows the dimensions of  
two alternative screen configuration options. The semicircular or C-type configuration involves visualization  
from a single viewpoint, with a radial horizon. The split or U-type configuration is based on two or more  
viewpoints; in this case, the lateral viewpoints have their own visual fields that extend the forward (bow)  
view. The final determination of the visualization type is still under study.  
   
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Figure 5. Visualization system layout.  
Source: The authors.  
The type of screen determines the available projection equipment options and their quantity. Figure 6a  
shows the projection layout for a C-type screen, which may use two or three projectors, whereas Figure 6b  
represents the projection options for a U-type screen, with configurations using one or two projectors.  
(a) Projection options for C-type screen.  
(b) Projection options for U-type screens.  
Figure 6. Projection configurations: a. Projection options for C-type screen. b. Projection options for U-type screens.  
Source: The authors.  
4.4. Scale Prototype  
The evolution of the project involves integrating the mechanical platform with a virtual simulation  
scenario through peripherals and electronic instrumentation elements in order to provide an immersive  
experience for the user. This level of complexity made it necessary to build a scale platform to facilitate the  
design of electronic instrumentation, as well as the development and evaluation of control algorithms for the  
platform and the configurations required for communication with the virtual simulator.  
Figure 7 presents the functional diagram of the control system implemented in the scale prototype.  
Three main blocks can be distinguished: remote control, control and power, and the motion unit.  
   
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Figure 7. Motor control circuit.  
Source: The authors.  
The remote control block integrates a gyroscope coupled to a transmitter module, which wirelessly sends  
orientation and acceleration information to the receiving system. This scheme allows the movements detected  
by the controller to be replicated on the scale platform, facilitating the validation of stability algorithms and  
dynamic response. In the control and power block, the receiver delivers the data to the controller, which is  
responsible for interpreting the signals and generating command instructions to the driver. The driver, in  
turn, supplies the power required to actuate the motors. The motion unit is composed of three electric motors  
that represent the main actuators of the system, reproducing the degrees of freedom required to simulate the  
movements of the combat boat.  
Figure 8 shows the scale prototype of the mechanical platform, featuring three servomotors and  
mechanical connectors similar to those that would be used in the final prototype.  
Figure 8. Functional scale prototype.  
Source: The authors.  
For platform control, a circuit based on the micro:bit V1.5 development board was designed to control the  
motors, as shown in Figure 7, and to transmit orientation data from another board using an RF communication  
protocol.  
The system was integrated with a computer to link the movements of the platform with those of the  
combat simulator, demonstrating successful results of the integrated system, as shown in Figure 8.  
   
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5. Conclusions  
This paper presents the design and preliminary implementation of an immersive riverine combat boat  
simulator prototype aimed at improving training processes within the Colombian Navy. The proposed  
system integrates a mechanical motion platform, a virtual simulation environment, and a semi-immersive  
visualization system, offering a cost-effective and flexible alternative to traditional training methods.  
The motion and load analyses support the selection of a Stewart-type platform with two to three degrees  
of freedom, capable of realistically reproducing the most relevant riverine dynamics. Additionally, the  
development of a scale prototype validated the control architecture and system integration, demonstrating  
the technical feasibility of the proposed solution and its potential for future full-scale implementation and  
doctrinal alignment.  
Author Contributions: Luis Escorcia: Conceptualization, Methodology, Software, Validation, Formal analysis, Investiga-  
tion, Resources, Data curation, Writing – original draft, Writing – review & editing, Visualization, Project administration.  
Aldo Lovo: Conceptualization, Methodology, Writing – review & editing, Supervision, Funding acquisition.  
All authors have read and agreed to the published version of the manuscript. Please refer to the CRediT taxonomy for the  
definitions of the terms. Authorship should be limited to those who have made substantial contributions to the reported  
work.  
Funding: This research received no external funding.  
Institutional Review Board Statement: Not applicable, since the present study does not involvehuman personnel or  
animals"  
Informed Consent Statement: This study is limited to the use of technological resources, so nohuman personnel or  
animals are involved.  
Conflicts of Interest: Under the authorship of this research, it is declared that there is no conflict of interest with the  
present research.  
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Authors’ Biography  
Luis Escorcia Valera Electronics and Telecommunications Engineer.  
Aldo Lovo Ayala Lieutenant Commander, Armada Nacional de Colombia.  
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