Safety analysis of resting on the seafloor of an AUV with mooring system

Safety analysis of resting on the seafloor of the AUV with mooring system mainly includes two parts, stability analysis and chain impact analysis. In order to analyze this problem, mathematical model of 6-DOF motion of the AUV is established. Stability analysis model is established and an example is presented to verify its correctness. Combined with the characteristics of this AUV, mathematic models of chain impact analysis are established. Based on this, simulation system of motion and chain impact under disturbance is established using MATLAB. Based on the simulation system, the motion and forces of chain of the AUV when resting on the seafloor under disturbance are analyzed and the safety of AUV is verified. Conclusions in this paper will provide theoretical basis to mooring system design and improvement of the AUV.