A marine monitoring two-body unmanned surface vehicle motion modeling and validation studies

Two-body unmanned surface vehicle is a new marine environment monitoring platform, with higher operating efficiency and wider applicability. In order to understand the movement features of this kind of ship, and to enhance its working capabilities and control precision, its dynamics model basing on six degrees of freedom equations is developed in this paper. The simulation results using this model and field data were compared. The results showed that: the simulation results were good consistent with the measured data, the dynamic model is accurate and credible. The research laid the foundations of the ship's motion control.