Research Article
Research on Submarine Straight-Line Track Control Underwater Based on Nonlinear Proportion Differential
Figure 2
Track parameters during voyage period.
(a) Transverse offset variation diagram |
(b) Vertical offset variation diagram |
(c) Heading angle variation diagram |
(d) Heading angle velocity variation diagram |
(e) Pitch angle variation diagram |
(f) Pitch angle velocity variation diagram |