Motion simulation of underwater vehicles

Seppo Kalske

Research output: Book/ReportReport


A three-dimensional time-domain simulation method for tethered subsea vehicle motions has been developed. The method is applicable to vehicles equipped with thrusters as propulsion devices, and can be applied to vehicles of arbitrary shape. A computer program using the present method has been written. It will be described in detail. Results will be presented in this report for one Remotely Operated Vehicle (ROV) with comparison of measured results from manoeuvring tests in horizontal and vertical planes in a towing tank. The agreement between simulated and measured results is good in most cases. The effects of various input data quantities and differing thruster configurations have been studied in additional simulations
Original languageEnglish
Place of PublicationEspoo
PublisherVTT Technical Research Centre of Finland
Number of pages173
ISBN (Print)951-38-4075-1
Publication statusPublished - 1992
MoE publication typeNot Eligible

Publication series

SeriesVTT Publications


  • submarines
  • underwater vehicles
  • remote control
  • computerized simulation
  • submarine simulators
  • maneuverability
  • thrust
  • force
  • motion
  • computer programs
  • mathematical models
  • three dimensional systems


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