Simulation of the Movement of Long-distance AUV

In order to study the movement of the long-distance torpedo-like autonomous underwater vehicle(AUV)which is controlled by the dynamic positioning system(DPS),by adopting momentum theorem and the angular momentum theorem,the appropriate movement math model for the long-distance torpedo-like AUV has been built and the thrust of DPS is distributed.Several representative movements of AUV are simulated,such as transferring between two random points and pointing circumrotation movement.The simulation result is analyzed.It shows that DPS including five thrusters can control the AUV movement steadily at low velocity.