Hydrodynamic Modeling of Unmanned Surface Vehicle in Different Sailing Conditions

The Unmanned Surface Vehicle(USV) can be easily manipulated and maneuvered and has been extensively used for both military and commercial application.However,the hydrodynamic modeling of USV was rarely researched,t he single hydrodynamic models previously employed in the related literature were merely designed for specific sailing condition.USV＇s sailing status will change with the variation of speed,so the single hydrodynamic m model is not acceptable all the time.The establishment of hydrodynamic models in different sailing conditions for various speeds and analyzing motion features of USV based on these models are necessary and of particula r interest in this area.A new hydrodynamic model according to the results of related literature was rebuilt.The open-loop concern of hydrodynamic performance with speed from zero to high-speed sliding was studied with a real USV.The results of simulation show that the hydrodynamic models proposed are better than the single hydrodynamic models.