Research Article
Nomoto Indices for Constant-Depth Zigzag Manoeuvres of an Autonomous Underwater Vehicle
Table 1
Results for manoeuvres respective with horizontal zigzag sea trials as reported by Issac et al. [
13].
| | Test no. | (m/s) | (deg) | (deg) | (s) | (m) | (m) | (s) | (deg) | (m) | (deg/s) | (m/s) |
| | 1 | 1.5 | 1.5 | 22.5 | 112.8 | 9.5 | 158.7 | 26.8 | 2.2 | 13.8 | 1 | 0.05 | | 2 | 2 | 1.5 | 22.5 | 86.2 | 9.9 | 161.5 | 20.2 | 2.6 | 14.4 | 1.3 | 0.07 | | 3 | 1.5 | 2.6 | 45 | 137 | 20.7 | 161.7 | 30.9 | 5.1 | 29.8 | 1.6 | 0.08 | | 4 | 2 | 2.6 | 45 | 105.4 | 21.7 | 164.7 | 23.5 | 6.3 | 31.9 | 2.2 | 0.11 |
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