Ocean environment underwater navigation body movement track estimation method
An underwater vehicle, motion trajectory technology, applied in navigation calculation tools, navigation, mapping and navigation, etc., can solve problems such as uncertainty and complex underwater motion trajectory of underwater vehicles
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[0159] (1) Trajectory estimation of underwater vehicle under different wave conditions
[0160] Set three different wave levels of 2 / 4 / 5 respectively, with the same wave direction angle of 90 degrees, the same initial motion depth, and the same initial speed, and perform simulation calculations to estimate the trajectory of the underwater vehicle under different wave levels. , the result is attached image 3 to attach Figure 4 shown.
[0161] Simulation results show:
[0162] 1) The initial vertical motion of the underwater vehicle is less disturbed by the wave force than the horizontal motion;
[0163] 2) The higher the wave level, the stronger the disturbance to the motion attitude angle and the larger the lateral deviation;
[0164] 3) Due to the randomness of waves, the wave disturbance force appears in different directions under the same incident angle, and the amplitude of the disturbance force increases with the increase of wave level, and the amplitude near the wa...
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