METHOD FOR STABILISING UNDERWATER VEHICLE IN HOVERING MODE Russian patent published in 2015 - IPC B63H25/42 B25J13/00 

FIELD: radio engineering, communication.

SUBSTANCE: method includes, in hovering mode, transmitting control signals to inputs of propellers of the underwater vehicle and compensating for the force and torque action on the vehicle which cause deviation of the vehicle from the initial position. The signals define linear and angular shift of the vehicle from its initial position at two propellers of each of three pairs of propellers of the underwater vehicle. Control signals are simultaneously transmitted, which are proportional to the linear shift of the underwater vehicle in parallel to the longitudinal axes of the propellers of a specific pair and angular shift of the underwater vehicle relative to the axis which is perpendicular to the plane. The plane forms the longitudinal axes of said pair of propellers.

EFFECT: high accuracy of stabilising an underwater vehicle in hovering mode at a given point in space using control systems.

2 cl, 2 dwg