System for attitude control of underwater vehicle and method for attitude control of underwater vehicle

摘要

A system for attitude control of an underwater vehicle 20 of the present invention includes an underwater vehicle 20 with a thruster 65, an assist device 10 that is coupled to the underwater vehicle 20 with a cable 1 and has cable handling equipment 2 and a thruster 58, a cable attachment-to-attachment distance detection unit 50 that detects distance between a cable attachment of the underwater vehicle 20 and a cable dispenser of the assist device 10, and a control unit 32 that previously stores the relationship between the attachment-to-attachment distance and cable length including a predetermined amount of slack and determines the amount of cable to be wound up or let out based on the cable length associated with the detected attachment-to-attachment distance.