A simplified dynamics model for autonomous underwater vehicles

This paper deals with the derivation and validation of a simplified dynamics model for streamlined underwater vehicles. The model is derived in a form which only requires the specification of the vehicle´s geometry, and the lift and drag characteristics of its constituent elements. The vehicle is decomposed into these elements, including hull, individual control surfaces, and propulsion system. The forces and moments acting on the vehicle are determined through a summation of the component effects, with correction factors to account for interference effects. Because the model is not linearized, it retains the vehicle´s fundamental nonlinear behaviour. The approach is validated by comparing the model results to those measured on an existing AUV