94 results about "Underwater navigation" patented technology

The invention discloses a self-adaptive integrated navigation method based on geometric accuracy factors, which belongs to the technical field of underwater navigation and positioning, is used for underwater navigation and positioning, and comprises the following steps: initializing an inertial navigation system and an integrated navigation filter, and setting a state vector and a noise covariance matrix; predicted navigation parameters of the recursive carrier are mechanically arranged through inertial navigation, and the state transition matrix is used for state prediction; and dynamically adjusting an observation noise covariance matrix according to the geometric precision factor value, further calculating a Kalman gain, performing optimal estimation and correction on a prediction state by fusing acoustic observation information, and finally outputting a high-precision carrier position, speed and attitude. According to the method, the statistical characteristics of observation noise are dynamically remodeled by calculating and feeding back geometric precision factor values in real time, so that the Kalman filter has the capabilities of knowing the own geometric situation and adjusting the trust degree of each information source, and the global optimal navigation precision and reliability are realized under any motion track.

The invention discloses an underwater navigation positioning method and system based on supercontinuum laser intensity correlation. The system comprises a master control system, a transmitting end underwater base station and a receiving end underwater carrier. The method comprises the following steps: firstly, a main control system generates a super-continuum laser signal with pseudo-random code information, the super-continuum laser signal is separated into optical signals of different wavelength channels through a light splitting module, and the optical signals are respectively sent to underwater base stations uniquely corresponding to the wavelength channels and are emitted; then the underwater carrier receives optical signals from a plurality of base stations, identifies a signal source base station according to wavelength identification, performs correlation operation with a locally copied pseudo-random code sequence, determines signal arrival time TOA and calculates a pseudo-range; and finally, resolving the three-dimensional coordinate and local clock error result of the underwater carrier by combining the pseudo-ranges, absolute positions and transmission delays of the underwater carrier and the at least four base stations. According to the invention, high-precision and high-robustness absolute positioning of the underwater environment is realized, and the reliability of long-time positioning and navigation of the underwater robot is enhanced.

The present invention belongs to the field of marine underwater positioning, navigation and timing. Disclosed are an underwater navigation and communication integrated position service system and method. The system comprises a buoy base station, a submerged buoy base station, a seabed base station and a shore-based operation and control unit, and the system utilizes a three-dimensional base station network observation mode combining the buoy base station, the submerged buoy base station and the seabed base station. The position service system and method in the present invention have the capabilities of underwater acoustic navigation and communication, satellite positioning and communication, atomic clock timekeeping, hydrological measurement and responding to instructions of a shore-based operation and control unit, have the functions of autonomous, real-time and online base station position and clock calibration and sound velocity field correction, have the functions of base station position and clock calibration, and sound velocity field correction and control based on the shore-based operation and control unit, and can expand the range and functions of underwater position services, and provide accurate positioning, navigation and timing services for water-surface / underwater users.

The invention discloses a water-air cross-medium unmanned aerial vehicle and a flight method, and belongs to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises a sealed cabin body composed of an upper cabin body and a lower cabin body, symmetrical vehicle arms, a tail steering engine, a rudder, a left steering engine, a right steering engine, an elevator, an underwater propeller and various types of sensors (a binocular camera, a sonar, a water quality sensor and the like). Air flight is achieved in a four-rotor mode, and underwater sneaking is driven in a fixed-wing mode. The control method comprises the stages of takeoff, air flight, air-water transition (a water surface hovering automatic switching mode), underwater navigation, water-air transition and landing, and complete-process autonomous cross-medium conversion is achieved by combining layered rate descent and multi-sensor fusion judgment states. The device has the advantages of being compact in structure, reliable in sealing and accurate in cross-domain control, and is suitable for ocean exploration, environment monitoring, underwater reconnaissance and other scenes.

The present invention provides a navigation control device, a navigation control system, a navigation control method, and a computer program for controlling the navigation of an underwater vehicle toward an area where an aerial vehicle is thought to be flying. [Solution] The navigation control device 10 detects the arrival of sound waves from an object 60 suspended in the water from the flying body 50, inputs direction information indicating the direction of the sound wave's arrival and distance information indicating the distance between the underwater navigating body 30 on which the device is mounted and the object 60, and uses the direction information and distance information to control the navigation of the underwater navigating body 30 toward a target position set below the flying body 50.

This application discloses a low-power underwater acoustic communication system for underwater navigation and ranging, relating to the field of underwater communication technology. It includes a digital signal processing platform for preprocessing the digital baseband signal to be transmitted to obtain a single-ended analog signal; a transmitting circuit module, comprising at least: a power amplification unit; the power amplification unit being a single chip integrating a PWM modulation circuit, a drive amplification circuit, and a power amplification circuit, wherein the power amplification unit sequentially performs PWM modulation, drive amplification, and power amplification on the single-ended analog signal to output a target amplified signal; and an underwater acoustic transducer for converting the target amplified signal into an acoustic signal and transmitting it into the water medium. This application can reduce energy loss during signal transmission.

The invention provides a dual-power amphibious unmanned aircraft, and relates to the technical field of aircrafts. The dual-power amphibious unmanned aircraft comprises an aircraft body, and a coaxial reverse propeller unit, a rotor attitude adjusting unit, a gravity center adjusting unit, a submerging attitude adjusting unit and a submerging propulsion unit which are arranged on the aircraft body. The unmanned aerial vehicle has excellent underwater submerging performance and reliable cross-domain capability, the aircraft adopts a dual-power system working mode, lifting force and attitude control are provided for cross-domain flight by the coaxial reverse propeller unit and the rotor attitude adjusting unit, and the front rotor and the rear rotor adopt reverse rotation design to counteract reaction torque and avoid spinning of the aircraft; underwater navigation is driven by the submerging propulsion unit, and the front propeller and the rear propeller are designed to rotate reversely, so that underwater rolling torque is effectively counteracted, and stability and control precision of underwater navigation are guaranteed. The two sets of power systems do not interfere with each other, so that the aircraft can realize long-time and low-resistance underwater submerging, and can reliably complete a cross-domain transition task.

The application belongs to the technical field of underwater navigation, and provides an underwater navigation method based on SINS and effective transponders. The SINS is used to navigate the AUV and continuously correct the navigation result of the SINS. The correction steps include: when the number of effective transponders is greater than one, determining the first pseudo-range vector and the second pseudo-range vector of the AUV and each effective transponder based on the SINS solution result and the sound line tracking algorithm; when the number of effective transponders is one, determining the third pseudo-range vector and the fourth pseudo-range vector of the AUV and the single effective transponder at each discrete time based on the SINS solution result and the sound line tracking algorithm; and correcting the navigation result of the SINS based on the Kalman filtering result of the first pseudo-range vector and the second pseudo-range vector, or based on the Kalman filtering result of the third pseudo-range vector and the fourth pseudo-range vector. The technical scheme of the application can reasonably determine the number of effective transponders participating in the integrated navigation, and perform the corresponding integrated navigation strategy accordingly.

The invention provides a method for realizing high-precision underwater integrated navigation by fusing the dynamic speed of an AUV (Autonomous Underwater Vehicle) and acoustic data of a single beacon, and belongs to the technical field of underwater navigation and positioning. The method comprises the following steps: estimating a water navigational speed under a carrier coordinate system by using a propeller rotating speed and a motor current, decomposing the water navigational speed into a navigation coordinate system by fusing an SINS attitude, obtaining an AUV three-dimensional motion speed, and obtaining an initial position based on dead reckoning; and a navigation strategy is adaptively selected according to the operation duration and acoustic availability: pure dynamic dead reckoning is adopted in medium and short time tasks, single-beacon distance information is introduced in long-endurance operation, a dead reckoning result is subjected to periodic constraint through a geometric projection filtering algorithm with a reset starting point, and a corrected navigation position is obtained. Compared with a single data source, the method has the advantages that the navigation precision and reliability are remarkably improved, and the technical problem that the application of the acoustic sensor in the deep sea environment is limited is effectively solved.

This disclosure relates to a method and computer device for controlling underwater vehicles. It pertains to the field of underwater navigation and addresses the safety and mission execution difficulties caused by underwater vehicles being detected. The method includes: constructing an underwater environment simulation model; acquiring passive detection data during the simulated operation of the underwater vehicle based on the underwater environment simulation model; training an explicit risk memory model based on the passive detection data from the underwater vehicle's operational history; generating a multi-dimensional observation vector indicating the current probability of detection based on the risk memory features output by the explicit risk memory model and instantaneous operational data; and performing memory fusion based on the multi-dimensional observation vector and the hidden state of the previous time step of the gated loop unit to output a normalized angular velocity control command to control the underwater vehicle. The technical solution provided by this disclosure is applicable to complex underwater navigation scenarios, achieving efficient and accurate autonomous decision-making for detection avoidance.

The embodiment of the utility model discloses a splicing handle and an underwater propeller, and relates to the field of water activities and underwater sailing, the splicing handle comprises a first holding assembly and a second holding assembly; the first holding assembly is connected with the second holding assembly, or the first holding assembly is connected with the second holding assembly through a plurality of expansion connecting pieces; wherein all the expansion connecting pieces are provided with first connecting parts and second connecting parts, the first connecting part of the first expansion connecting piece is connected with the first holding assembly, and from the second expansion connecting piece, the first connecting part of the expansion connecting piece is connected with the second connecting part of the previous expansion connecting piece; and the second connecting part of the last expansion connecting piece is connected with the second holding assembly. Connection is carried out through the expansion connecting pieces, a user can flexibly select the number of connections according to needs, and therefore the effects of rapid splicing and disassembling are achieved.

The utility model belongs to the technical field of mechanical support structures, and particularly relates to an adjustable placing frame for an underwater navigation body. The placing frame is composed of a limiting groove, a mounting base, a sliding rod assembly, a hoop, supporting legs, a male end connecting column, a female end connecting column and the like. The limiting grooves are arranged side by side and connected through the connecting plate, the sliding rod assembly and the hoop can be flexibly adjusted to adapt to underwater navigation bodies or segments of different sizes, and the space utilization rate is increased. Due to the design of the male end connecting columns and the female end connecting columns, the multiple placing frames can be stably stacked, and space utilization is further improved. According to the placing frame, ordered management of the underwater navigation body is achieved, secondary carrying and labor hour waste are reduced, and the working efficiency is improved. And meanwhile, the fixing design of the hoop and the limiting groove effectively prevents the product collision risk, and the product quality is protected.

The application discloses a kind of formation control obstacle avoidance methods of multiple underwater vehicles based on enhanced virtual spring: the environment and state perception data of each underwater vehicle are obtained;Formation maintenance force between underwater vehicles is obtained;Obtain the basic repulsion force of underwater vehicle to obstacle, and the direction of rotation is adjusted to the basic repulsion force, to obtain the rotating repulsion force;Obtain the target attraction force between underwater vehicle and target point;The vector superposition of formation maintenance force, rotating repulsion force and target attraction force is obtained, to obtain the force data;Model prediction path integral cost function is constructed;Candidate control sequence is generated by low-frequency trajectory sampling, and candidate control sequence is evaluated according to model prediction path integral cost function, and the optimal control sequence of the current period is screened out;Underwater vehicle motion is controlled according to the optimal control sequence of the current period.The application can improve the formation control accuracy of multiple underwater vehicles, and can be widely applied in underwater navigation equipment control technical field.

The invention discloses a UUV inertial navigation-electromagnetic fusion positioning method and system based on a magnetic gradient tensor, and relates to the field of underwater navigation positioning, and the method comprises the steps: obtaining an electromagnetic beacon magnetic field signal, a UUV angular velocity signal and a linear acceleration signal, and carrying out the preprocessing; calculating an independent component of the magnetic gradient tensor by adopting a spatial difference method; calculating the motion state of the inertial navigation system to obtain the position, the speed, the attitude and the IMU error of the UUV; based on the magnetic dipole equivalent model, establishing a tight coupling fusion model of the magnetic gradient tensor and the motion state of the inertial navigation system; and performing state estimation on the tight coupling fusion model by using an unscented Kalman filtering algorithm, correcting the state of the inertial navigation system by using an independent component of a magnetic gradient tensor as an observed value, and outputting a fusion positioning result of the UUV. And the inertial navigation-electromagnetic fusion positioning performance is comprehensively improved.

The application provides an anti-interference acoustic signal data extraction method based on energy data sensing, and belongs to the technical field of underwater acoustic signal processing. The method comprises the following steps: A / D sampling and digital quadrature demodulation are performed on a received acoustic signal to obtain a baseband signal; low-pass filtering and down-sampling are performed on the baseband signal to obtain a pretreated signal; the pretreated signal is matched filtered by using a reference signal; a key improvement lies in that a local energy estimation function of the pretreated signal is calculated, and the matched filtering result is normalized with the energy estimation function to obtain a normalized detection signal. Through energy sensing normalization, the application effectively suppresses the shielding effect of strong interference signals on weak target signals due to non-quadrature reference signals and the "near-end strong and far-end weak" scene, significantly reduces the false recognition probability, and improves the accuracy and reliability of extracting a long-distance and low signal-to-noise ratio target beacon signal in a complex underwater acoustic environment. The application is suitable for underwater navigation, positioning and communication systems.

The utility model discloses a kind of magnetic coupling adjustable speed propellers, belong to underwater navigation and electric propulsion technical field.The motor of the propeller, driving assembly and driven assembly are arranged in the inside of cabin, motor drive shaft is connected driving assembly, a plurality of first permanent magnets are arranged on driving assembly, a plurality of second permanent magnets are arranged on driven assembly, first permanent magnet and second permanent magnet magnetic force cooperation;Impeller is arranged outside cabin, impeller is connected with driven assembly;Magnetic controller includes disc and electromagnet, disc is rotatably connected with driving assembly, a plurality of electromagnets are detachably arranged on disc, electromagnet is arranged between first permanent magnet and second permanent magnet.The driving assembly of the propeller drives driven assembly to rotate, by changing the state of electromagnet, impeller can be speed-regulated, the propeller eliminates the friction loss in traditional mechanical transmission, so that the propeller has multi-mode speed-regulating function, can adapt to more application scenarios, improves transmission efficiency.

The application discloses a water-air cross-medium vehicle, comprising a driving device and a plurality of rotors, wherein the rotors comprise underwater blades and air blades; one end of the underwater blades is connected with the driving device, and the other end is connected with the air blades; the air blades can rotate relative to the underwater blades to be in an unfolded state coaxial with the underwater blades when the vehicle is in air navigation, and to be in a folded state inclined relative to the underwater blades when the vehicle is in underwater navigation; the underwater blades and the air blades are integrated to form a rotor, so that the overall layout of the rotor is more compact, and the driving can be shared to serve the air blades and the underwater blades, power transmission is more direct and efficient, energy loss caused by additional transmission devices is reduced, and therefore the volume, weight and control complexity of the propulsion system are reduced while underwater and air high-speed cruising is realized.

The application discloses an underwater navigation seabed pipeline detection robot capable of autonomously avoiding obstacles, which comprises a mounting frame, horizontal propellers, vertical propellers, obstacle-removing mechanisms, an equipment cabin assembly and a limiting mechanism, symmetrically arranged with illuminating lamps on the upper side of the mounting frame, and symmetrically arranged with vertical propellers below the left and right sides of the mounting frame, and horizontally arranged with propellers in the middle of the left and right sides of the mounting frame, and arranged with the limiting mechanism in the middle of the mounting frame, and arranged with the equipment cabin assembly on the limiting mechanism, and symmetrically arranged with the obstacle-removing mechanisms on the left and right sides of the mounting frame; when the robot encounters obstacles, the extrusion plate will be pressed by the obstacles, and when the extrusion plate moves, the obstacle-removing plate on the rotating frame will swing, which enables the robot to push away or bypass the encountered obstacles, and the obstacle-removing mechanisms can help the robot to identify and avoid obstacles, and ensure the smooth passing of the robot.

The invention relates to underwater navigation, in particular to an underwater navigation adaptation area optimization method based on intelligent optimization balance strategy combination, a minority class oversampling technology and a particle swarm optimization algorithm are combined and synthesized, and a support vector machine is optimized. Carrying out analogue simulation to calibrate a one-way adaptive area and a non-adaptive area, calibrating the sub-areas with more than three directions as the adaptive areas as excellent adaptive areas, and marking the other sub-areas as non-excellent adaptive areas; then, randomly dividing a training set, a test set and a verification set which are respectively used for model training, performance evaluation and hyper-parameter adjustment; applying the classification model obtained by training to a test set to divide an adaptive area and a non-adaptive area, and comparing with a pre-calibration result; finally, the trained classification model is applied to underwater navigation adaptation area selection, track matching is carried out on the excellent adaptation areas divided by the classification model, and the result shows that the navigation precision mean value is superior to 100 m, and the accuracy is superior to 91%.

This invention belongs to the field of underwater positioning and navigation technology, and relates to an underwater auxiliary navigation method for measuring the velocity of a carrier using a multi-order magnetic gradient tensor. The method includes: velocity observation generation based on the multi-order magnetic gradient tensor: raw data acquisition of the multi-order magnetic gradient tensor, tensor time differential processing, and tensor velocity observation calculation; adaptive fusion navigation of multi-source information: system state quantity definition, dual observation channel design, state prediction and measurement update; robustness enhancement and failure handling: online evaluation of observation quality, adaptive weight adjustment and smooth switching. This invention achieves highly robust multi-source information fusion based on the dual observation channel design using extended Kalman filtering, combined with adaptive noise covariance adjustment. This invention constructs a complete failure handling mechanism to ensure continuous and stable operation of the navigation system in complex underwater environments. This method significantly improves the autonomy and mission reliability of long-endurance underwater navigation and achieves true functional redundancy within the system.

The invention relates to the technical field of retracting and releasing of underwater navigation bodies, in particular to an anti-swing device and method for retracting and releasing a navigation body. The rigid anti-swing device comprises a rigid anti-swing rod, the rigid anti-swing rod is installed below a top lifting point of a retracting and releasing device, and the rigid anti-swing rod is vertically attached to the outer side wall of the navigation body after extending out to prevent the navigation body from swinging towards the inner side; the constant-tension flexible anti-swing device comprises at least two stay cables and corresponding anti-swing winches, the anti-swing winches are fixed to the two sides of the lifting arm of the retracting and releasing device, the stay cables are installed on the anti-swing winches respectively, and the ends, away from the anti-swing winches, of the stay cables are connected with two points of a lifting appliance of the navigation body. The anti-swing device can prevent the navigation body from swinging towards the outer side, swing of the navigation body in the vertical direction and the horizontal direction can be greatly reduced when the two anti-swing devices take up and release the navigation body jointly, collision between the navigation body and a mother ship is reduced, and the safety of the navigation body during lifting and releasing is improved.

The utility model discloses an assistive device for improving the hoisting and transferring efficiency of an underwater vehicle, which comprises at least one hoisting bracket, the hoisting bracket comprises a placing frame, a supporting assembly and a fastening assembly, and the placing frame is used for placing the underwater vehicle; the supporting assembly is connected with the containing frame and used for supporting the containing frame so that the containing frame can be erected. The fastening assembly is arranged on the placing frame and used for fixing the underwater navigation body, and when the number of the hoisting supports is larger than one, every two adjacent hoisting supports are detachably connected. The carrier serves as a carrier of the underwater navigation body to transfer the underwater navigation body, the underwater navigation body does not need to be boxed, the underwater navigation body is erected, the difficulty of penetrating a lifting rope can be effectively reduced, and the working efficiency is improved; in addition, the hoisting support in the assistive device can be assembled and used according to actual conditions, so that the multiple underwater navigation bodies can be transferred at the same time, and the transfer efficiency of the underwater navigation bodies can be improved.

The utility model belongs to the technical field of underwater bionic equipment, in particular to an underwater navigation device, which comprises a bionic fish shell, a bionic dorsal fin, a fluid sensor and a plectrum, the bionic dorsal fin is arranged at the upper end of the bionic fish shell, the fluid sensor is arranged at the side end of the bionic dorsal fin, and the plectrum is arranged at the tail end of the tail of the bionic fish shell. By arranging the bionic fish shell, the shaftless propelling sleeve, the shaftless paddle ring, the stator, the rotor, the bionic pelvic fin and the bionic pectoral fin, when the structure is used, a steering motor and a shaftless annular motor are powered by a battery, and the steering motor and the shaftless annular motor are jointly connected with an external control unit together with a fluid sensor. Power transmission is achieved through the shaftless annular motor, a stator winding of the shaftless annular motor is fixed to the inner wall of the annular guide pipe, and a rotor inner ring is rigidly connected with the shaftless paddle ring. When current passes through the stator coil, a rotating magnetic field is formed, and the rotor and the shaftless blade ring are directly driven to rotate. By means of the optimized structure, the speed is increased, and meanwhile the movement stability and flexibility are guaranteed.

This invention provides a multi-source real-time positioning method and device for AUVs based on a single seabed beacon and a dual-transducer terminal, belonging to the field of underwater navigation and positioning technology. This invention configures dual acoustic transducers on a rigid AUV carrier, constructs real-time geometric constraints using the acoustic path difference under the far-field plane wave assumption, achieves dimensionality reduction by combining depth information provided by a high-precision pressure sensor, and uses extended Kalman filtering to loosely combine and optimize the geometric positioning results with strapdown inertial navigation data. This method achieves low-cost, wide-range, high-precision, and real-time navigation and positioning for deep-sea AUVs without the need for complex maneuvers and multi-beacon arrays.

1. Name of the designed product: submarine (mimic ray). 2. Use of the designed product: for underwater navigation. 3. Design points of the designed product: in shape. 4. Picture or photo best showing the design points: perspective view.

The invention relates to an underwater navigation adaptation area connectivity improving method based on correction domain boundary screening, which comprises the following steps: constructing a gravity anomaly feature and adaptation area correlation model EBMAS, and completing underwater navigation adaptation area calibration by using an EBMAS model, firstly, making up an evaluation blank of a navigation reserved boundary of a TERCOM algorithm by using a correction square domain migration mechanism and an out-of-domain sequence reduction mechanism; an adaptation area is calibrated; secondly, obtaining a training data set in combination with adaptive region class labels and gravity anomaly features; then, a range control synthetic minority class oversampling technology RCSMOTE is combined to control the position of a newly synthesized adaptive region sample in a data space so as to identify a potential adaptive region sample and enhance the classification identification performance of the calibration model; afterwards, a key gravity anomaly feature set with comprehensive information representation is screened in combination with a maximum correlation minimum redundancy algorithm mRMR, and compared with the prior art, the comprehensiveness and accuracy of calibration of the adaptation area can be effectively improved, and high applicability is still shown when the model is migrated to a new area.

The invention relates to an underwater navigation ultralow-frequency amplitude forecasting method, device and equipment, and the method comprises the steps: carrying out the free motion simulation of a scaling model of an underwater navigation body and a plurality of different-size amplification models of the scaling model based on a pre-constructed numerical model, and obtaining a relation curve of the attack angle and the vertical displacement of each model; under the same angle of attack, vertical displacement of the model is extracted from each relation curve and fitted, and an amplitude forecasting formula is obtained; and calculating the amplitude of the underwater navigation entity based on the amplitude forecast formula and the amplitude of the scaling model. The ULF amplitude of the underwater navigation entities of any size and the same type can be extrapolated only by calculating the amplitude of the scaling model and combining the amplitude forecasting formula, and compared with a method for obtaining the ULF amplitude depending on an entity three-dimensional model, the calculation amount can be effectively reduced, and the calculation time can be effectively shortened.

The application relates to a kind of inertial navigation error accurate correction methods of comprehensive utilization underwater multiple navigation information, with Doppler log velocity information as reference information, the longitude and latitude error of inertial navigation latitude oscillation error is obtained when two adjacent peaks, based on the longitude and latitude error of two time points, the inertial navigation is implemented single point correction, and the longitude divergence coefficient of inertial navigation is calculated simultaneously.After single point correction, the inertial navigation output compensates the longitude divergence error and is used as the guide information of carrier navigation, the carrier is guided to the area of the fluctuation of marine physical field, and the matching position is obtained by feature matching positioning.Taking the matching position as the starting point, the Doppler log velocity is pushed, and the inertial navigation output is corrected by using the position information, so that the inertial navigation position error can be autonomously and accurately calibrated in underwater scenes where accurate external position information such as satellite navigation cannot be obtained, and the oscillation term in the inertial navigation error can be effectively inhibited in subsequent time, and the information quality of inertial navigation is comprehensively improved.

The application discloses a kind of vector power propulsion systems and control method for cross-domain vehicle.The propulsion shell of system is installed at the rear end of cross-domain vehicle, and two propellers are located on the symmetrical two sides of the rear end of cross-domain vehicle.The oil tank is connected to the propeller by the oil pump, the inlet end of the proportional overflow valve is connected between the oil pump and the oil circuit of the propeller, and the outlet end is connected to the oil tank.The method comprises the following steps: establishing a propulsion system control model under two motion modes, inputting a preset input quantity, and outputting the control quantity of the system;establishing a pose model, inputting the control quantity of the system, and outputting the pose output quantity of the vehicle;controlling the system to run through the control quantity of the system, so that the vehicle moves under the pose output quantity, and realizes the control of the system.The vector power propulsion system takes into account the forward and reverse movement and steering movement in the horizontal dimension and the lift and dive movement in the vertical dimension, so that the vehicle has the cross-domain function of surface navigation and underwater navigation, and improves the motion flexibility and environmental adaptability.