I had this game when I was a kid. Thought it'd be fun to revisit. A great deal of my DOS / early Windows games were edutainment... Anyway, when I go to Voyager.exe to start the game in DOSBox, I get hit with the message

In order to take full advantage of your computer, you must first run INSTALL to configure the game for your machine.

I did that, did the sound card thing, tried VOYAGER.EXE again, same message.