Dynamic modeling and switching analysis of all-attitude multimode underwater vehicle for multidimensional data acquisition

This study proposes a unique multimodal underwater observation platform, called all-attitude multimode underwater vehicle (AMUV). AMUV integrates the movement capabilities of Argo buoy, Glider motion modes, and autonomous underwater vehicles (AUVs), enabling comprehensive underwater navigation. To explore the operational rules of individual modes and the changes in actuator and attitude during mode transitions, firstly, a dynamics model of AMUV is established, conforming the operating principles of the Argo buoy, Glider, and AUVs. Secondly, through open-loop simulations of different modes, the feasibility of the dynamic model is verified. Thirdly, through simulation experiments involving three typical mode switching processes, the mechanism of AMUV multi-mode switching is demonstrated. Finally, to examine the ability of the AMUV for multidimensional data acquisition, a simulation task focused on gathering multidimensional data of marine elements is designed. The simulation results indicate that the proposed AMUV has considerable potential for application in monitoring activities requiring the acquisition of multidimensional oceanographic data.