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turning diameter 2BL at 60┬░deflection angle. Figure 11 illustrate the results of turning speed measurement, including two kinds of data. The first data are obtained through calculation according to the time the vehicle took to finish circular route; the second data are obtained according to compass data. The two kinds of data are almost the same. At similar deflection angle, the yaw rate of Propellers AUV is about 1/2 of that of caudal fin AUV.

Fig.16 The trajectory of SPC-III AUV performing different caudal fin deflection at about 1.1m/sec.
Fig. 17. the trajectory of the Comparison AUV performing different rudder deflection at about 1.1m/sec.

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