Effects of dragging navigation buoyage on maneuverability of body-of-revolution UUV

In order to validate the feasibility of navigation for the body-of-revolution unmanned underwater vehicle (UUV) by the dragging navigation buoyage, some researches on the effects of the dragging navigation buoyage on the maneuverability of body-of-revolution UUV were carried out. Based on d'Alembert principle, the motion equations of the dragging system were established. And, based on the equations of momentum and moment of momentum, the 6 degree of freedom motion model of UUV was established. Then, the effects of the navigation buoyage on the maneuverability of the UUV were simulated numerically. The simulation results show that the navigation buoyage influences the maneuverability of UUV in a certain extent, however, UUV can still move steady. The results also show that the navigation buoyage results in the shaking changes of some UUV's motion parameters, such as displacement, pitch angle, velocity, angular velocity, angle of attack, and when UUV drags the buoyage, the dragging system will bring a force to the UUV's tail, thus, the velocity reduces obviously. The study illuminates that the mode for UUV navigated by the dragging navigation buoyage is feasible.