Abstract
The air trajectory planned studied of the high-altitude long-range gliding unmanned underwater vehicle (HALRG-UUV) based on segmented control strategy is proposed. The aim of this research is twofold. On the one hand, specifying an altitude penetration strategy at the end of the gliding stage was presented with the aim of improving the vehicle glide ratio and achieving penetration. On the other hand, a rocket deceleration strategy was applied to adjust the speed and attitude of the vehicle in order to meet the water entry requirement. Besides, six-degrees-of-freedom mathematical model of the HALRG-UUV was developed based on the Newton’s law. Dynamic simulations of the vehicle under various conditions were performed with the aid of the MATLAB/Simulink codes. The result shows that the vehicle has a glide ratio of 1/9 in the air trajectory and meets the water entry requirement above water. This study lays the foundation for the further research of maneuverability and water impact of the vehicle.
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