FIELD: transportation.
SUBSTANCE: in order to control the submersible vehicle, measure the current values of the heel and trim angles of the submersible vehicle, generate the propellers control signals based on the resulting thrust vector, using the program device, which is automatically formed taking into account the heel and trim angles, measured by means of the gyro package on the submersible vehicle board, and the software device information, which determines the spatial movement of the submersible vehicle without taking into account the current values of its heel and trim angles.
EFFECT: precise movement of the submersible vehicle along the specified trajectory, taking into account the disturbances.
2 cl, 2 dwg
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