An Innovative Attitude Regulating Mechanism Used to Enrich Underwater Glider Motion Patterns

With the increasing application of underwater glider in ocean observation, more requirements are put forward for its attitude adjustment mechanism. In this paper, an innovative dual-equal-eccentricity attitude regulating mechanism was designed, which can realize the full-angle pitch and roll regulating of the underwater glider. In addition, a new S-type motion pattern was proposed for the station keeping observation of the underwater glider. Subsequently, a dynamic model of the underwater glider containing the dual-equal-eccentricity attitude regulating mechanism was established throught linear momentum and angular momentum equations. According to the dynamic model, the S-type motion was simulated. Simulation results verify the performance of the attitude adjustment mechanism, and it is of great significance for guiding underwater gliders to observe the small-scale marine environment.