Base on the above mathematic modelling and analysis, many simulation data are obtained using the simulator of one AUV. The simulation results are compared with the results of at-sea experiments. The zigzag-like motions in horizontal plane and vertical plane were simulated and the compared results are shown in Fig.5 and Fig.6.
From the comparison between simulation results and experiment results, we can conclude that the mathematic model of the AUV motion and the numerical integration method are accurate and feasible.
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