Effect of wave on AUV hovering near sea surface

In the full paper, we explain in some detail our research on the effect of wave on an AUV (Autonomous Underwater Vehicle) hovering near the sea surface. In this abstract, we just add some pertinent remarks to listing the two topics of explanation. The first topic is: the six-degree-of-freedom motion equations of an AUV. In the first topic, we only make some changes in the motion equations taken from the open literature in order to facilitate our research. The second topic is: the model for calculating wave force. In establishing this model, we give mathematical derivation of eqs. (5) through (17), among which eqs. (5), (6), (13), (14), (15), (16) and (17) are particularly important. Finally we give a numerical example simulating the effect of wave on the AUV affected by Grades 2 and 4 waves (Chinese national standard). The simulation results, summarized in Figs. 4 through 7 in the full paper, show preliminarily that Grade 2 wave has little effect while Grade 4 wave has obvious effect but is still permissible. Therefore, even in the case of Grade 4 wave, the AUV can still successfully hover and locate itself with GPS signals.