Underwater vehicle stability high test method, device, equipment and storage medium

Abstract

A kind of underwater vehicle stability high test method, device, equipment and computer readable storage medium.The method is when underwater vehicle is in actual water navigation process, adjusting load is moved from its initial position in preset direction by preset distance, so that underwater vehicle forms certain inclination angle;Obtain the inclination angle and angular acceleration of underwater vehicle;The preset distance, the weight of load, inclination angle and angular acceleration are brought into stability high value calculation formula, and stability high value is obtained.By the present application, effectively solve the technical problems that artificial test is tedious, error is big and test scene is limited in stability high value test process, it has important significance for the safe operation of underwater vehicle.

Description

Technical Field

[0001] This application relates to the field of ship equipment technology, specifically to a method, apparatus, equipment, and computer-readable storage medium for testing the stability of underwater vehicles. Background Technology

[0002] Currently, underwater vehicles are subject to various dynamic factors such as ocean waves in the ocean, and their stability plays a decisive role in their safe operation. High stability is a core indicator for measuring stability. Therefore, obtaining accurate high stability data is of great significance for the safe operation of underwater vehicles in actual water conditions.

[0003] Traditional testing methods are conducted only in the test waters before sea trials. By manually moving loads to different positions on the vessel to create tilt angles, the stability height of the underwater vehicle during the sea trial phase is calculated. The entire testing process is quite cumbersome. Furthermore, the water conditions in which the underwater vehicle actually navigates are more complex than those in the test environment. The weight and distribution of the load change in real time during navigation, and the stability height value also changes dynamically, resulting in errors in the test results. Therefore, it is difficult to guarantee safe operation under actual water conditions. Summary of the Invention

[0004] This application provides a method, apparatus, equipment, and computer-readable storage medium for testing the stability of underwater vehicles, which can solve the technical problems of cumbersome testing methods and low accuracy of test results in the prior art.

[0005] In a first aspect, embodiments of this application provide a method for testing the stability of an underwater vehicle, the method comprising:

[0006] During the navigation of an underwater vehicle in actual waters, the load is adjusted to move a preset distance from its initial position along a preset direction, so that the underwater vehicle forms a certain tilt angle; the tilt angle and angular acceleration of the underwater vehicle are obtained; the preset distance, the weight of the load, the tilt angle and angular acceleration are substituted into the stability high value calculation formula to obtain the stability high value.

[0007] In conjunction with the first aspect, in one embodiment, the initial position of the load is located near the center of gravity of the underwater vehicle, and the ratio of the weight of the load to the displacement of the underwater vehicle is greater than a first threshold.

[0008] In conjunction with the first aspect, in one embodiment, prior to acquiring the tilt angle and angular acceleration of the underwater vehicle, the method further includes:

[0009] Detect whether the acceleration of the underwater vehicle is less than the second threshold;

[0010] Detect whether the depth of the underwater vehicle is less than the third threshold;

[0011] If the underwater vehicle's acceleration is less than the second threshold and the underwater vehicle's depth is less than the third threshold, then the steps to obtain the underwater vehicle's tilt angle and angular acceleration are executed.

[0012] In conjunction with the first aspect, in one embodiment, the underwater vehicle stability testing method further includes:

[0013] If the underwater vehicle's acceleration is not less than the second threshold or the underwater vehicle's depth is not less than the third threshold, then adjust the load to move to the initial position.

[0014] In conjunction with the first aspect, in one implementation method, the formula for calculating the high stability value is:

[0015]

[0016] in, For high stability values, For load weight, For the distance the load moves, Let be the moment of inertia about the axis of rotation. Angular acceleration of the aircraft The underwater displacement of the aircraft. The tilt angle of the aircraft.

[0017] In conjunction with the first aspect, in one implementation, after obtaining the high stability value, the method further includes:

[0018] The load is adjusted back to its initial position, and the movement direction opposite to the previous movement direction is taken as the preset direction. The process of adjusting the load from its initial position along the preset direction to move a preset distance during the actual navigation of the underwater vehicle in the water is repeated until Q stability values ​​are obtained, where Q is the preset value.

[0019] By combining Q high stability values, the final high stability value is obtained.

[0020] In conjunction with the first aspect, in one implementation, after obtaining the high stability value, the method further includes:

[0021] If the stability high value is not within the safe operation threshold range of the underwater vehicle, adjust the load back to the initial position, take the movement direction perpendicular to the previous movement direction as the preset direction, and return to execute the step of adjusting the load from its initial position to move a preset distance along the preset direction during the actual navigation of the underwater vehicle in the water, so that the underwater vehicle forms a certain tilt angle.

[0022] Secondly, embodiments of this application provide an underwater vehicle stability testing device, the underwater vehicle stability testing device comprising:

[0023] The adjustment module is used to adjust the load to move a preset distance from its initial position along a preset direction during the underwater vehicle's navigation in actual waters, so that the underwater vehicle can form a certain tilt angle.

[0024] The acquisition module is used to acquire the tilt angle and angular acceleration of the underwater vehicle;

[0025] The calculation module is used to input the preset distance, load weight, tilt angle and angular acceleration into the stability high value calculation formula to obtain the stability high value.

[0026] Thirdly, embodiments of this application provide an underwater vehicle stability testing device, which includes a processor, a memory, and an underwater vehicle stability testing program stored in the memory and executable by the processor. When the underwater vehicle stability testing program is executed by the processor, it implements the steps of the underwater vehicle stability testing method as described in the first aspect.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium storing an underwater vehicle stability test program, wherein when the underwater vehicle stability test program is executed by a processor, it implements the steps of the underwater vehicle stability test method as described in the first aspect.

[0028] The beneficial effects of the technical solutions provided in this application include:

[0029] By adjusting the load and moving it a predetermined distance along a preset direction during the underwater vehicle's navigation in actual waters, a certain tilt angle is achieved. The tilt angle and angular acceleration of the underwater vehicle are then acquired. The preset distance, the load's weight, the tilt angle, and the angular acceleration are then substituted into the stability height calculation formula to obtain the stability height value. This method simplifies the testing process, takes into account the real-time changes in the stability height value during actual navigation, and solves the technical problems of cumbersome testing processes, accumulated errors, and limited testing scenarios caused by manually moving the load in related technologies. Attached Figure Description

[0030] Figure 1 This is a flowchart illustrating an embodiment of a high stability testing method for underwater vehicles according to this application;

[0031] Figure 2 This is a functional module diagram of an embodiment of an underwater vehicle stability testing device according to this application;

[0032] Figure 3 This is a schematic diagram of the hardware structure for high stability testing of an underwater vehicle involved in an embodiment of this application. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0035] In a first aspect, embodiments of this application provide a method for testing the stability of an underwater vehicle.

[0036] In one embodiment, reference is made to Figure 1 , Figure 1 This is a schematic flowchart illustrating an embodiment of a method for testing the stability of an underwater vehicle according to this application. Figure 1 As shown, a method for testing the stability of an underwater vehicle includes:

[0037] Step S10: During the underwater vehicle's navigation in actual waters, the adjustment load is moved a preset distance from its initial position along a preset direction, so that the underwater vehicle forms a certain tilt angle.

[0038] Furthermore, the initial position of the load is located near the center of gravity of the underwater vehicle, and the ratio of the load's weight to the underwater vehicle's displacement is greater than the first threshold.

[0039] In one embodiment, for example, an underwater 300-ton vehicle is used as the test target, the test environment is ocean water, the underwater vehicle is in a stable navigation condition, the initial position of the load is located near the center of gravity of the underwater vehicle, the ratio of the load weight to the displacement of the underwater vehicle is greater than a first threshold, in order to make the underwater vehicle form a certain tilt angle, the tilt angle range is 0.5-5°, the load needs to be moved laterally by driving an electric slide rail.

[0040] Assuming the lateral direction is the preset direction for the first movement of the load, and the lateral movement range is 0-4m. First, the underwater vehicle control center completes the initial attitude calibration and records the initial tilt angle. Then, a test start command is sent to the adjustment module. The adjustment module generates load movement parameters according to the preset scheme: the lateral movement distance of the load. =3.1m, the initial movement direction is to the right, the driving load moves 3.1m to the right along the transverse slide rail on the electric slide rail, and after reaching the position, the position signal is fed back to the adjustment module through the sensor. At this time, the underwater vehicle forms the preset tilt angle.

[0041] In this embodiment, the load is moved automatically by driving an electric slide rail, which solves the technical problem in related technologies that require manual operation of the load movement, making the testing process cumbersome.

[0042] Step S20: Obtain the tilt angle and angular acceleration of the underwater vehicle;

[0043] In one embodiment, the acquisition module begins acquiring parameters after the load is in place, and accurately measures and calculates parameters such as tilt angle using a data processing method that combines and corrects multiple navigation devices. angular acceleration The module outputs the tilt angle of the underwater vehicle. =1.5°, angular acceleration is =0.1° / s 2 .

[0044] Step S30: Substitute the preset distance, load weight, tilt angle, and angular acceleration into the stability high value calculation formula to obtain the stability high value.

[0045] Furthermore, in one embodiment, the formula for calculating the high stability value is:

[0046]

[0047] in, For high stability values, For load weight, For the distance the load moves, Let be the moment of inertia about the axis of rotation. Angular acceleration of the aircraft The underwater displacement of the aircraft. The tilt angle of the aircraft.

[0048] In one embodiment, if the load weight =800kg, load moving distance d =3.1m, moment of inertia about the axis of rotation I =5× kg angular acceleration of the aircraft =0.2° / Submersible displacement of the aircraft =300 tons, aircraft tilt angle =1.5°, substituting these data into the stability height calculation formula, we obtain the stability height value. .

[0049] Furthermore, in one embodiment, after obtaining the stability high value, in order to reduce errors and obtain a more accurate stability high value... Alternatively, implementation plan one can be implemented:

[0050] The load is adjusted back to its initial position, and the movement direction opposite to the previous movement direction is taken as the preset direction. The process of adjusting the load from its initial position along the preset direction to move a preset distance during the actual navigation of the underwater vehicle in the water is repeated until Q stability values ​​are obtained, where Q is the preset value.

[0051] By combining Q high stability values, the final high stability value is obtained.

[0052] In one embodiment, for example, to reduce random errors, the test Q = 3 times is repeated according to the following rules: after each test, the load is reset to the initial position, and the direction of movement next time is opposite to that of the previous time (e.g., the first time to the right, the second time to the left, and the third time to the right); the results of the three tests are combined, such as 0.256m, 0.254m, and 0.258m, and the average value of 0.256m is taken as the final high stability value.

[0053] Furthermore, in one embodiment, after obtaining the high stability value, in order to obtain a high stability value that meets the safe operation criteria... Alternatively, implementation plan two can be implemented:

[0054] If the stability high value is not within the safe operation threshold range of the underwater vehicle, adjust the load back to the initial position, take the movement direction perpendicular to the previous movement direction as the preset direction, and return to execute the step of adjusting the load from its initial position to move a preset distance along the preset direction during the actual navigation of the underwater vehicle in the water, so that the underwater vehicle forms a certain tilt angle.

[0055] In one embodiment, after obtaining the high stability value or the final high stability value, it is determined whether the underwater vehicle safety operation threshold requirement is met. If it is met, the test ends; if it is not met, assuming that the load moved laterally in the previous direction, the adjustment module drives the load to move vertically, and steps S10-S30 are repeated.

[0056] For example, the safe maneuvering threshold range for underwater vehicles is ≥0.25m, assuming the load is ultimately obtained after lateral movement. =0.22m, which does not meet the safety operation threshold requirements for underwater vehicles. Therefore, the adjustment module generates a vertical adjustment command to drive the load module to move upward (downward) by Δz = 0.6m (vertical position adjustment). Repeat steps S10 - S30 to remeasure the high stability value after adjustment until the safety requirements are met.

[0057] Furthermore, to ensure the safety of the testing process, before obtaining the tilt angle and angular acceleration of the underwater vehicle in step S20, it is also included to determine whether the underwater vehicle's acceleration and depth are within the corresponding thresholds, in order to determine whether an emergency state should be triggered:

[0058] Detect whether the acceleration of the underwater vehicle is less than the second threshold;

[0059] Detect whether the depth of the underwater vehicle is less than the third threshold;

[0060] If the underwater vehicle's acceleration is less than the second threshold and the underwater vehicle's depth is less than the third threshold, then the steps to obtain the underwater vehicle's tilt angle and angular acceleration are executed.

[0061] In this embodiment, for example, the preset maximum acceleration threshold for the underwater vehicle, i.e., the second threshold, is 0.3 m / s. And the maximum threshold of the depth, i.e. the third threshold, is 100m. At this time:

[0062] If acceleration =0.2m / ,depth If the depth is 50m, it means the underwater vehicle's acceleration is less than the second threshold and its depth is less than the third threshold. Therefore, the underwater vehicle is considered to be in a safe state.

[0063] Furthermore, in one embodiment, the underwater vehicle stability testing method further includes:

[0064] If the underwater vehicle's acceleration is not less than the second threshold or the underwater vehicle's depth is not less than the third threshold, then adjust the load to move to the initial position.

[0065] In this embodiment of the application, for example, the preset maximum acceleration threshold for the underwater vehicle is 0.3 m / s². Furthermore, the maximum depth threshold is 100m. If the acceleration of the underwater vehicle is measured... =0.5m / The acceleration exceeded the maximum threshold, or the depth at which the underwater vehicle was located. =110m, exceeding the maximum depth threshold, all indicate that the underwater vehicle is in a dangerous state, triggering the risk control logic, immediately stopping the test and resetting the load to the initial position. After the danger is eliminated, step S10 is executed again.

[0066] Secondly, embodiments of this application also provide a high stability testing device for underwater vehicles.

[0067] In one embodiment, reference is made to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the underwater vehicle stability testing device of this application. Figure 2 As shown, the underwater vehicle stability testing device includes:

[0068] The adjustment module 10 is used to adjust the load to move a preset distance from its initial position along a preset direction during the underwater vehicle's navigation in actual waters, so that the underwater vehicle can form a certain tilt angle.

[0069] Module 20 is used to acquire the tilt angle and angular acceleration of the underwater vehicle;

[0070] The calculation module 30 is used to input the preset distance, load weight, tilt angle and angular acceleration into the stability high value calculation formula to obtain the stability high value.

[0071] Furthermore, in one embodiment, the adjustment module 10 further includes:

[0072] The initial position of the load is near the center of gravity of the underwater vehicle, and the ratio of the load weight to the displacement of the underwater vehicle is greater than the first threshold.

[0073] Furthermore, in one embodiment, the acquisition module 20 is specifically used for:

[0074] Detect whether the acceleration of the underwater vehicle is less than the second threshold;

[0075] Detect whether the depth of the underwater vehicle is less than the third threshold;

[0076] If the underwater vehicle's acceleration is less than the second threshold and the underwater vehicle's depth is less than the third threshold, then the steps to obtain the underwater vehicle's tilt angle and angular acceleration are executed.

[0077] Furthermore, in one embodiment, the acquisition module 20 further includes:

[0078] If the underwater vehicle's acceleration is not less than the second threshold or the underwater vehicle's depth is not less than the third threshold, then adjust the load to move to the initial position.

[0079] Furthermore, in one embodiment, the computing module 30 includes:

[0080] The formula for calculating the stability high value is as follows:

[0081]

[0082] in, For high stability values, For load weight, For the distance the load moves, Let be the moment of inertia about the axis of rotation. Angular acceleration of the aircraft The underwater displacement of the aircraft. The tilt angle of the aircraft.

[0083] Furthermore, in one embodiment, the computing module 30 further includes:

[0084] The load is adjusted back to its initial position, and the movement direction opposite to the previous movement direction is taken as the preset direction. The process of adjusting the load from its initial position along the preset direction to move a preset distance during the actual navigation of the underwater vehicle in the water is repeated until Q stability values ​​are obtained, where Q is the preset value.

[0085] By combining Q high stability values, the final high stability value is obtained.

[0086] Furthermore, in one embodiment, the computing module 30 further includes:

[0087] If the stability high value is not within the safe operation threshold range of the underwater vehicle, adjust the load back to the initial position, take the movement direction perpendicular to the previous movement direction as the preset direction, and return to execute the step of adjusting the load from its initial position to move a preset distance along the preset direction during the actual navigation of the underwater vehicle in the water, so that the underwater vehicle forms a certain tilt angle.

[0088] The functions of each module in the above-mentioned underwater vehicle stability high test device correspond to the steps in the above-mentioned underwater vehicle stability high test method embodiment, and their functions and implementation processes will not be described in detail here.

[0089] Thirdly, embodiments of this application provide an underwater vehicle stability testing device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0090] Reference Figure 3 , Figure 3 This is a schematic diagram of the hardware structure of the underwater vehicle stability testing equipment involved in the embodiments of this application. In the embodiments of this application, the underwater vehicle stability testing equipment may include a processor, a memory, a communication interface, and a communication bus.

[0091] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0092] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the underwater vehicle stability testing equipment, as well as interfaces used for interconnecting the underwater vehicle stability testing equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0093] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0094] The processor can be a general-purpose processor, which can call the underwater vehicle stability high-performance test program stored in the memory and execute the underwater vehicle stability high-performance test method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the underwater vehicle stability high-performance test program is called can refer to the various embodiments of the underwater vehicle stability high-performance test method of this application, and will not be repeated here.

[0095] Those skilled in the art will understand that Figure 3 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0096] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0097] The present application provides a computer-readable storage medium storing an underwater vehicle stability test program, wherein when the underwater vehicle stability test program is executed by a processor, it implements the steps of the underwater vehicle stability test method described above.

[0098] The method implemented when the underwater vehicle stability high test procedure is executed can be referred to in the various embodiments of the underwater vehicle stability high test method of this application, and will not be repeated here.

[0099] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0100] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0101] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0102] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0103] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0105] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for testing the stability of an underwater vehicle, characterized in that, The underwater vehicle stability testing method includes: During the navigation of an underwater vehicle in actual waters, the adjustment load moves a preset distance from its initial position along a preset direction, so that the underwater vehicle forms a certain tilt angle. Obtain the tilt angle and angular acceleration of the underwater vehicle; By substituting the preset distance, load weight, tilt angle, and angular acceleration into the stability height calculation formula, the stability height value is obtained. The stability height value calculation formula is as follows: in, For high stability values, For load weight, For the distance the load moves, Let be the moment of inertia about the axis of rotation. Angular acceleration of the aircraft The underwater displacement of the aircraft. The tilt angle of the aircraft.

2. The underwater vehicle stability testing method as described in claim 1, characterized in that, The initial position of the load is near the center of gravity of the underwater vehicle, and the ratio of the load weight to the displacement of the underwater vehicle is greater than the first threshold.

3. The underwater vehicle stability testing method as described in claim 1, characterized in that, Before obtaining the tilt angle and angular acceleration of the underwater vehicle, the method further includes: Detect whether the acceleration of the underwater vehicle is less than the second threshold; Detect whether the depth of the underwater vehicle is less than the third threshold; If the underwater vehicle's acceleration is less than the second threshold and the underwater vehicle's depth is less than the third threshold, then the steps to obtain the underwater vehicle's tilt angle and angular acceleration are executed.

4. The underwater vehicle stability testing method as described in claim 3, characterized in that, The underwater vehicle stability test method also includes: If the underwater vehicle's acceleration is not less than the second threshold or the underwater vehicle's depth is not less than the third threshold, then adjust the load to move to the initial position.

5. The underwater vehicle stability testing method as described in claim 1, characterized in that, After obtaining the high stability value, the following is also included: The load is adjusted back to its initial position, and the movement direction opposite to the previous movement direction is taken as the preset direction. The process of adjusting the load from its initial position along the preset direction to move a preset distance during the actual navigation of the underwater vehicle in the water is repeated until Q stability values ​​are obtained, where Q is the preset value. By combining Q high stability values, the final high stability value is obtained.

6. The underwater vehicle stability testing method as described in claim 1, characterized in that, After obtaining the high stability value, the following is also included: If the stability high value is not within the safe operation threshold range of the underwater vehicle, adjust the load back to the initial position, take the movement direction perpendicular to the previous movement direction as the preset direction, and return to execute the step of adjusting the load from its initial position to move a preset distance along the preset direction during the actual navigation of the underwater vehicle in the water, so that the underwater vehicle forms a certain tilt angle.

7. A high stability testing device for underwater vehicles, characterized in that, The underwater vehicle stability testing device includes: The adjustment module is used to adjust the load to move a preset distance from its initial position along a preset direction during the underwater vehicle's navigation in actual waters, so that the underwater vehicle can form a certain tilt angle. The acquisition module is used to acquire the tilt angle and angular acceleration of the underwater vehicle; The calculation module is used to input the preset distance, load weight, tilt angle, and angular acceleration into the stability height calculation formula to obtain the stability height value. The stability height value calculation formula is as follows: in, For high stability values, For load weight, For the distance the load moves, Let be the moment of inertia about the axis of rotation. Angular acceleration of the aircraft The underwater displacement of the aircraft. The tilt angle of the aircraft.

8. A high stability testing device for underwater vehicles, characterized in that, The underwater vehicle stability testing device includes a processor, a memory, and an underwater vehicle stability testing program stored in the memory and executable by the processor, wherein when the underwater vehicle stability testing program is executed by the processor, it implements the steps of the underwater vehicle stability testing method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an underwater vehicle stability test program, wherein when the underwater vehicle stability test program is executed by a processor, it implements the steps of the underwater vehicle stability test method as described in any one of claims 1 to 6.

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