Research on Perpendicular Impact Trajectory of Smart Underwater Vehicle Toward Surface Ship

In this paper, a form of perpendicular impact trajectory toward surface ship was proposed and the realization method of this trajectory form was studied. Namely, the trajectory of the smart underwater vehicle was constituted chronologically by program climbing section, near-surface searching section, parallel-to-ship moving section and program turning section, and the realization method mainly involved program motion control and proportional guidance. Based on the modeling of the kinematics, dynamics, guidance and control of the smart underwater vehicle, a math simulation system was established and a set of close-loop simulation was carried out. The result of the math simulation demonstrates the feasibility of the proposed trajectory form and its realization method.