diff --git a/src/Drone_hand_gesture_project/requirements.txt b/src/Drone_hand_gesture_project/requirements.txt
index 9dc920bebf..c768762a5c 100644
--- a/src/Drone_hand_gesture_project/requirements.txt
+++ b/src/Drone_hand_gesture_project/requirements.txt
@@ -1,4 +1,8 @@
 opencv-python>=4.8.1.78
 mediapipe>=0.10.0
 numpy>=1.24.3
-pymavlink>=2.4.37
\ No newline at end of file
+pymavlink>=2.4.37
+pygame>=2.5.0
+PyOpenGL>=3.1.7
+PyOpenGL-accelerate>=3.1.7
+PyYAML>=6.0
\ No newline at end of file
diff --git a/src/Drone_hand_gesture_project/simulation_3d.py b/src/Drone_hand_gesture_project/simulation_3d.py
new file mode 100644
index 0000000000..fe04eb30de
--- /dev/null
+++ b/src/Drone_hand_gesture_project/simulation_3d.py
@@ -0,0 +1,583 @@
+"""
+3D仿真显示模块 - 无需GLUT版本
+"""
+import pygame
+import numpy as np
+from OpenGL.GL import *
+from OpenGL.GLU import *
+
+
+class Drone3DViewer:
+    def __init__(self, width=800, height=600):
+        self.width = width
+        self.height = height
+
+        # 初始化Pygame和OpenGL
+        pygame.init()
+        self.screen = pygame.display.set_mode((width, height),
+                                              pygame.DOUBLEBUF | pygame.OPENGL)
+        pygame.display.set_caption("无人机3D仿真系统")
+
+        # OpenGL设置
+        glEnable(GL_DEPTH_TEST)
+        glEnable(GL_LIGHTING)
+        glEnable(GL_LIGHT0)
+        glEnable(GL_COLOR_MATERIAL)
+
+        # 光源
+        glLightfv(GL_LIGHT0, GL_POSITION, [5.0, 5.0, 5.0, 1.0])
+        glLightfv(GL_LIGHT0, GL_AMBIENT, [0.2, 0.2, 0.2, 1.0])
+        glLightfv(GL_LIGHT0, GL_DIFFUSE, [0.8, 0.8, 0.8, 1.0])
+
+        # 视角
+        gluPerspective(45, (width / height), 0.1, 100.0)
+        glTranslatef(0.0, -3.0, -15)
+
+        # 无人机模型参数
+        self.drone_model = DroneModel()
+
+        # 环境
+        self.grid_size = 20
+        self.show_grid = True
+        self.show_trajectory = True
+        self.show_axes = True
+
+        # 相机参数
+        self.camera_distance = 15.0
+        self.camera_angle_x = 0.0
+        self.camera_angle_y = -20.0
+
+    def update_camera(self):
+        """更新相机位置"""
+        glLoadIdentity()
+        gluPerspective(45, (self.width / self.height), 0.1, 100.0)
+
+        # 计算相机位置
+        cam_x = self.camera_distance * np.sin(np.radians(self.camera_angle_y)) * np.cos(np.radians(self.camera_angle_x))
+        cam_y = self.camera_distance * np.cos(np.radians(self.camera_angle_y))
+        cam_z = self.camera_distance * np.sin(np.radians(self.camera_angle_y)) * np.sin(np.radians(self.camera_angle_x))
+
+        gluLookAt(cam_x, cam_y, cam_z,  # 相机位置
+                  0, 0, 0,  # 观察点
+                  0, 1, 0)  # 上方向
+
+    def render(self, drone_state=None, trajectory=None):
+        """渲染整个场景"""
+        # 清除缓冲区
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
+        glClearColor(0.1, 0.1, 0.15, 1.0)  # 深蓝色背景
+
+        # 更新相机
+        self.update_camera()
+
+        # 绘制环境
+        if self.show_grid:
+            self._draw_grid()
+
+        if self.show_axes:
+            self._draw_coordinate_axes()
+
+        # 绘制无人机（如果有状态数据）
+        if drone_state:
+            self._draw_drone(drone_state)
+        else:
+            # 如果没有状态数据，绘制默认位置的无人机
+            default_state = {
+                'position': [0.0, 2.0, 0.0],
+                'orientation': [0.0, 0.0, 0.0],
+                'armed': True,
+                'mode': 'HOVER'
+            }
+            self._draw_drone(default_state)
+
+        # 绘制轨迹（如果有）
+        if self.show_trajectory and trajectory:
+            self._draw_trajectory(trajectory)
+
+        # 绘制状态信息
+        if drone_state:
+            self._draw_status_overlay(drone_state)
+        else:
+            self._draw_default_overlay()
+
+        # 交换缓冲区
+        pygame.display.flip()
+
+    def _draw_grid(self):
+        """绘制地面网格"""
+        glBegin(GL_LINES)
+        glColor3f(0.3, 0.3, 0.3)  # 灰色
+
+        for i in range(-self.grid_size, self.grid_size + 1):
+            # X方向线
+            glVertex3f(i, 0, -self.grid_size)
+            glVertex3f(i, 0, self.grid_size)
+            # Z方向线
+            glVertex3f(-self.grid_size, 0, i)
+            glVertex3f(self.grid_size, 0, i)
+
+        glEnd()
+
+    def _draw_coordinate_axes(self):
+        """绘制坐标轴"""
+        glLineWidth(2.0)
+        glBegin(GL_LINES)
+
+        # X轴 (红色)
+        glColor3f(1.0, 0.0, 0.0)
+        glVertex3f(0, 0, 0)
+        glVertex3f(2, 0, 0)
+
+        # Y轴 (绿色)
+        glColor3f(0.0, 1.0, 0.0)
+        glVertex3f(0, 0, 0)
+        glVertex3f(0, 2, 0)
+
+        # Z轴 (蓝色)
+        glColor3f(0.0, 0.0, 1.0)
+        glVertex3f(0, 0, 0)
+        glVertex3f(0, 0, 2)
+
+        glEnd()
+        glLineWidth(1.0)
+
+    def _draw_drone(self, state):
+        """绘制无人机"""
+        x, y, z = state.get('position', [0.0, 2.0, 0.0])
+        roll, pitch, yaw = state.get('orientation', [0.0, 0.0, 0.0])
+
+        glPushMatrix()
+        glTranslatef(x, y, z)
+        glRotatef(np.degrees(yaw), 0, 1, 0)
+        glRotatef(np.degrees(pitch), 1, 0, 0)
+        glRotatef(np.degrees(roll), 0, 0, 1)
+
+        # 根据状态设置颜色
+        armed = state.get('armed', True)
+        mode = state.get('mode', 'HOVER')
+
+        if armed:
+            if mode == 'TAKEOFF':
+                color = (0.0, 1.0, 0.0)  # 绿色：起飞中
+            elif mode == 'LAND':
+                color = (1.0, 0.5, 0.0)  # 橙色：降落中
+            elif mode == 'HOVER':
+                color = (0.0, 0.8, 1.0)  # 青色：悬停
+            else:
+                color = (0.0, 0.6, 0.0)  # 深绿色：飞行中
+        else:
+            color = (0.5, 0.5, 0.5)  # 灰色：未解锁
+
+        self.drone_model.draw(color)
+        glPopMatrix()
+
+    def _draw_trajectory(self, trajectory):
+        """绘制飞行轨迹"""
+        if len(trajectory) < 2:
+            return
+
+        glLineWidth(2.0)
+        glBegin(GL_LINE_STRIP)
+
+        # 渐变颜色：从蓝色到红色
+        for i, (x, y, z) in enumerate(trajectory):
+            t = i / len(trajectory)
+            r = t
+            g = 0.5 - 0.5 * t
+            b = 1.0 - t
+            glColor3f(r, g, b)
+            glVertex3f(x, y, z)
+
+        glEnd()
+        glLineWidth(1.0)
+
+    def _draw_status_overlay(self, state):
+        """绘制状态信息覆盖层"""
+        # 切换到2D模式
+        glMatrixMode(GL_PROJECTION)
+        glPushMatrix()
+        glLoadIdentity()
+        gluOrtho2D(0, self.width, 0, self.height)
+
+        glMatrixMode(GL_MODELVIEW)
+        glPushMatrix()
+        glLoadIdentity()
+
+        # 禁用深度测试和光照
+        glDisable(GL_DEPTH_TEST)
+        glDisable(GL_LIGHTING)
+
+        # 绘制状态文本
+        font = pygame.font.SysFont(None, 24)
+
+        status_info = [
+            f"模式: {state.get('mode', 'TEST')}",
+            f"位置: X={state.get('position', [0, 0, 0])[0]:.2f}m, Y={state.get('position', [0, 0, 0])[1]:.2f}m, Z={state.get('position', [0, 0, 0])[2]:.2f}m",
+            f"电池: {state.get('battery', 100):.1f}%",
+            f"解锁: {'是' if state.get('armed', True) else '否'}",
+            f"俯仰: {np.degrees(state.get('orientation', [0, 0, 0])[1]):.1f}°, 横滚: {np.degrees(state.get('orientation', [0, 0, 0])[0]):.1f}°, 偏航: {np.degrees(state.get('orientation', [0, 0, 0])[2]):.1f}°"
+        ]
+
+        for i, text in enumerate(status_info):
+            text_surface = font.render(text, True, (255, 255, 255))
+            text_data = pygame.image.tostring(text_surface, "RGBA", True)
+
+            glRasterPos2d(10, self.height - 30 - i * 25)
+            glDrawPixels(text_surface.get_width(), text_surface.get_height(),
+                         GL_RGBA, GL_UNSIGNED_BYTE, text_data)
+
+        # 绘制控制提示
+        controls = [
+            "控制提示:",
+            "ESC - 退出仿真",
+            "G - 切换网格显示",
+            "T - 切换轨迹显示",
+            "A - 切换坐标轴显示",
+            "↑↓←→ - 旋转视角",
+            "+/- - 缩放视角",
+            "空格 - 重置视角"
+        ]
+
+        for i, text in enumerate(controls):
+            text_surface = font.render(text, True, (200, 200, 255))
+            text_data = pygame.image.tostring(text_surface, "RGBA", True)
+
+            glRasterPos2d(self.width - 300, self.height - 30 - i * 25)
+            glDrawPixels(text_surface.get_width(), text_surface.get_height(),
+                         GL_RGBA, GL_UNSIGNED_BYTE, text_data)
+
+        # 恢复设置
+        glEnable(GL_DEPTH_TEST)
+        glEnable(GL_LIGHTING)
+
+        glMatrixMode(GL_PROJECTION)
+        glPopMatrix()
+        glMatrixMode(GL_MODELVIEW)
+        glPopMatrix()
+
+    def _draw_default_overlay(self):
+        """绘制默认覆盖层（无状态数据时）"""
+        # 切换到2D模式
+        glMatrixMode(GL_PROJECTION)
+        glPushMatrix()
+        glLoadIdentity()
+        gluOrtho2D(0, self.width, 0, self.height)
+
+        glMatrixMode(GL_MODELVIEW)
+        glPushMatrix()
+        glLoadIdentity()
+
+        # 禁用深度测试和光照
+        glDisable(GL_DEPTH_TEST)
+        glDisable(GL_LIGHTING)
+
+        # 绘制状态文本
+        font = pygame.font.SysFont(None, 24)
+
+        status_info = [
+            "3D无人机仿真系统",
+            "测试模式运行中",
+            "等待连接主程序...",
+            "按ESC键退出"
+        ]
+
+        for i, text in enumerate(status_info):
+            text_surface = font.render(text, True, (255, 255, 255))
+            text_data = pygame.image.tostring(text_surface, "RGBA", True)
+
+            glRasterPos2d(10, self.height - 30 - i * 25)
+            glDrawPixels(text_surface.get_width(), text_surface.get_height(),
+                         GL_RGBA, GL_UNSIGNED_BYTE, text_data)
+
+        # 恢复设置
+        glEnable(GL_DEPTH_TEST)
+        glEnable(GL_LIGHTING)
+
+        glMatrixMode(GL_PROJECTION)
+        glPopMatrix()
+        glMatrixMode(GL_MODELVIEW)
+        glPopMatrix()
+
+    def handle_events(self):
+        """处理窗口事件"""
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                return False
+            elif event.type == pygame.KEYDOWN:
+                if event.key == pygame.K_ESCAPE:
+                    return False
+                elif event.key == pygame.K_g:
+                    self.show_grid = not self.show_grid
+                    print(f"网格显示: {'开' if self.show_grid else '关'}")
+                elif event.key == pygame.K_t:
+                    self.show_trajectory = not self.show_trajectory
+                    print(f"轨迹显示: {'开' if self.show_trajectory else '关'}")
+                elif event.key == pygame.K_a:
+                    self.show_axes = not self.show_axes
+                    print(f"坐标轴显示: {'开' if self.show_axes else '关'}")
+                elif event.key == pygame.K_SPACE:
+                    # 重置视角
+                    self.camera_distance = 15.0
+                    self.camera_angle_x = 0.0
+                    self.camera_angle_y = -20.0
+                    print("视角已重置")
+                elif event.key == pygame.K_UP:
+                    self.camera_angle_y = min(89, self.camera_angle_y + 5)
+                elif event.key == pygame.K_DOWN:
+                    self.camera_angle_y = max(-89, self.camera_angle_y - 5)
+                elif event.key == pygame.K_LEFT:
+                    self.camera_angle_x -= 5
+                elif event.key == pygame.K_RIGHT:
+                    self.camera_angle_x += 5
+                elif event.key == pygame.K_PLUS or event.key == pygame.K_EQUALS:
+                    self.camera_distance = max(5, self.camera_distance - 1)
+                elif event.key == pygame.K_MINUS:
+                    self.camera_distance = min(50, self.camera_distance + 1)
+        return True
+
+
+class DroneModel:
+    """无人机3D模型（无需GLUT版本）"""
+
+    def __init__(self):
+        self.body_size = [0.8, 0.15, 0.8]  # 机身尺寸
+        self.arm_length = 0.7  # 机臂长度
+        self.propeller_radius = 0.3  # 螺旋桨半径
+
+    def draw(self, color):
+        """绘制无人机模型"""
+        glColor3f(*color)
+
+        # 绘制机身
+        self._draw_body()
+
+        # 绘制机臂
+        self._draw_arms()
+
+        # 绘制螺旋桨
+        self._draw_propellers()
+
+    def _draw_body(self):
+        """绘制机身"""
+        w, h, d = self.body_size
+        self._draw_cube(w, h, d)
+
+    def _draw_cube(self, width, height, depth):
+        """绘制立方体"""
+        w, h, d = width / 2, height / 2, depth / 2
+
+        glBegin(GL_QUADS)
+
+        # 前面 (Z = +d)
+        glNormal3f(0.0, 0.0, 1.0)
+        glVertex3f(-w, -h, d)
+        glVertex3f(w, -h, d)
+        glVertex3f(w, h, d)
+        glVertex3f(-w, h, d)
+
+        # 后面 (Z = -d)
+        glNormal3f(0.0, 0.0, -1.0)
+        glVertex3f(-w, -h, -d)
+        glVertex3f(-w, h, -d)
+        glVertex3f(w, h, -d)
+        glVertex3f(w, -h, -d)
+
+        # 上面 (Y = +h)
+        glNormal3f(0.0, 1.0, 0.0)
+        glVertex3f(-w, h, d)
+        glVertex3f(w, h, d)
+        glVertex3f(w, h, -d)
+        glVertex3f(-w, h, -d)
+
+        # 下面 (Y = -h)
+        glNormal3f(0.0, -1.0, 0.0)
+        glVertex3f(-w, -h, d)
+        glVertex3f(-w, -h, -d)
+        glVertex3f(w, -h, -d)
+        glVertex3f(w, -h, d)
+
+        # 右面 (X = +w)
+        glNormal3f(1.0, 0.0, 0.0)
+        glVertex3f(w, -h, d)
+        glVertex3f(w, -h, -d)
+        glVertex3f(w, h, -d)
+        glVertex3f(w, h, d)
+
+        # 左面 (X = -w)
+        glNormal3f(-1.0, 0.0, 0.0)
+        glVertex3f(-w, -h, d)
+        glVertex3f(-w, h, d)
+        glVertex3f(-w, h, -d)
+        glVertex3f(-w, -h, -d)
+
+        glEnd()
+
+    def _draw_arms(self):
+        """绘制机臂"""
+        arm_positions = [
+            (-self.arm_length, 0, 0),
+            (self.arm_length, 0, 0),
+            (0, 0, -self.arm_length),
+            (0, 0, self.arm_length)
+        ]
+
+        glColor3f(0.3, 0.3, 0.3)  # 深灰色机臂
+
+        for x, y, z in arm_positions:
+            glPushMatrix()
+            glTranslatef(x, y, z)
+
+            # 绘制圆柱体机臂
+            self._draw_cylinder(0.03, self.arm_length * 0.8)
+            glPopMatrix()
+
+    def _draw_cylinder(self, radius, height):
+        """绘制圆柱体"""
+        slices = 16
+        stacks = 1
+
+        # 绘制侧面
+        glBegin(GL_QUAD_STRIP)
+        for i in range(slices + 1):
+            angle = 2 * np.pi * i / slices
+            x = np.cos(angle) * radius
+            z = np.sin(angle) * radius
+
+            glNormal3f(np.cos(angle), 0, np.sin(angle))
+            glVertex3f(x, -height / 2, z)
+            glVertex3f(x, height / 2, z)
+        glEnd()
+
+        # 绘制顶部圆盘
+        glBegin(GL_TRIANGLE_FAN)
+        glNormal3f(0, 1, 0)
+        glVertex3f(0, height / 2, 0)
+        for i in range(slices + 1):
+            angle = 2 * np.pi * i / slices
+            x = np.cos(angle) * radius
+            z = np.sin(angle) * radius
+            glVertex3f(x, height / 2, z)
+        glEnd()
+
+        # 绘制底部圆盘
+        glBegin(GL_TRIANGLE_FAN)
+        glNormal3f(0, -1, 0)
+        glVertex3f(0, -height / 2, 0)
+        for i in range(slices, -1, -1):
+            angle = 2 * np.pi * i / slices
+            x = np.cos(angle) * radius
+            z = np.sin(angle) * radius
+            glVertex3f(x, -height / 2, z)
+        glEnd()
+
+    def _draw_propellers(self):
+        """绘制螺旋桨"""
+        prop_positions = [
+            (-self.arm_length, 0.1, 0),
+            (self.arm_length, 0.1, 0),
+            (0, 0.1, -self.arm_length),
+            (0, 0.1, self.arm_length)
+        ]
+
+        glColor3f(0.8, 0.2, 0.2)  # 红色螺旋桨
+
+        for x, y, z in prop_positions:
+            glPushMatrix()
+            glTranslatef(x, y, z)
+
+            # 绘制圆盘
+            self._draw_disk(self.propeller_radius)
+            glPopMatrix()
+
+    def _draw_disk(self, radius):
+        """绘制圆盘"""
+        slices = 16
+
+        glBegin(GL_TRIANGLE_FAN)
+        glNormal3f(0, 1, 0)
+        glVertex3f(0, 0, 0)
+        for i in range(slices + 1):
+            angle = 2 * np.pi * i / slices
+            x = np.cos(angle) * radius
+            z = np.sin(angle) * radius
+            glVertex3f(x, 0, z)
+        glEnd()
+
+
+# ==================== 测试代码 ====================
+def test_simulation_3d():
+    """测试3D仿真"""
+    print("启动3D无人机仿真测试...")
+    print("按ESC键退出")
+    print("按G键切换网格显示")
+    print("按T键切换轨迹显示")
+    print("按A键切换坐标轴显示")
+    print("按↑↓←→键旋转视角")
+    print("按+/-键缩放视角")
+    print("按空格键重置视角")
+
+    # 创建3D查看器
+    viewer = Drone3DViewer(width=1024, height=768)
+
+    # 模拟一些轨迹数据用于测试
+    trajectory = []
+    for i in range(100):
+        angle = 2 * np.pi * i / 100
+        x = np.cos(angle) * 3
+        z = np.sin(angle) * 3
+        y = 2 + np.sin(angle * 2) * 0.5
+        trajectory.append((x, y, z))
+
+    # 模拟无人机状态
+    drone_state = {
+        'position': [0.0, 2.0, 0.0],
+        'orientation': [0.0, 0.0, 0.0],
+        'velocity': [0.0, 0.0, 0.0],
+        'battery': 87.5,
+        'armed': True,
+        'mode': 'HOVER'
+    }
+
+    clock = pygame.time.Clock()
+    running = True
+    frame_count = 0
+
+    while running:
+        # 处理事件
+        running = viewer.handle_events()
+
+        # 模拟无人机移动（用于测试）
+        frame_count += 1
+        if frame_count % 300 < 150:
+            # 向前移动
+            drone_state['position'][2] -= 0.02
+            drone_state['orientation'][1] = np.radians(-5)  # 轻微俯仰
+        else:
+            # 向后移动
+            drone_state['position'][2] += 0.02
+            drone_state['orientation'][1] = np.radians(5)
+
+        # 限制位置
+        drone_state['position'][2] = max(-5, min(5, drone_state['position'][2]))
+
+        # 轻微偏航
+        drone_state['orientation'][2] = np.radians(np.sin(frame_count * 0.01) * 10)
+
+        # 更新电池（模拟消耗）
+        drone_state['battery'] = 87.5 - (frame_count / 6000) * 100
+        if drone_state['battery'] < 0:
+            drone_state['battery'] = 0
+
+        # 渲染场景
+        viewer.render(drone_state, trajectory)
+
+        # 控制帧率
+        clock.tick(60)
+
+    pygame.quit()
+    print("3D仿真测试结束")
+
+
+if __name__ == "__main__":
+    # 当直接运行这个文件时，执行测试
+    test_simulation_3d()
\ No newline at end of file