Research on the influence of balance weight parameters on the motion performance of the seafloor mapping AUV in vertical plane

To collect high quality geological data, the seafloor mapping autonomous underwater vehicle (AUV) is required to change depth in accordance with seafloor terrain to keep a constant altitude above seabed. Therefore, the motion performance of the AUV, involving motion stability and maneuverability (especially in vertical plane), is critical to its security and the quality of survey data. While the balance weight parameters of the vehicle, including net buoyancy and the relative position between gravity center and buoyant center, have great influences on motion performance. In this paper, the influences of balance weight parameters on its motion performance in vertical plane were researched based on dynamic equations. The influence rules of these parameters on motion performance and their reasonable value ranges were provided as well. The research can provide references for the overall design, internal layout planning and trimming of the vehicle, improve its motion performance and shorten the development cycle. Finally, the calculation principles of these parameters were verified by the offshore trial data of the seafloor mapping AUV developed by Tianjin University.