水下航行器动力定位下的运动轨迹设计与仿真

对远程低速水下航行器在动力定位系统作用下的运动进行了研究.远程低速水下航行器由于航程远必须采用GPS全球导航定位系统进行导航,于是水下航行器就必须具有动力定位的能力,使之可以在需要GPS导航的时候上浮到近水面,导航完成后再下潜回航行深度.在建立水下航行器运动数学模型及进行推力分配的基础上,对远程低速水下航行器的典型运动轨迹进行了仿真,并对仿真结果进行了分析.

Design and Simulation of a DPS-Controlled Underwater Vehicle's Movement Track

This paper do some study on a DPS-controlled underwater vehicle's movement.The long-distance low-velocity underwater vehicle has to be navigated by GPS because of its long-distance.So the underwater vehicle must have a dynamic positioning system(DPS),the underwater vehicle can float to close to the surface when navigating by GPS and submerge to the last depth after navigate by GPS.This paper built the movement math model of the DPS-controlled underwater vehicle,distribute trust,and simulate the type movement track of the long-distance low-velocity underwater vehicle.At last the simulation result is analyzed.