Method for controlling lateral position of an underwater towed body

摘要

A method of controlling the lateral position of a towed body in water where the body is equipped with effectors for effecting at least aileron and rudder control. A lateral correction is defined by a distance measured perpendicular to the towed body's direction of travel. A first command indicative of an aileron control is determined that would cause the effectors to move the body laterally of the direction of travel by an amount equal to the lateral correction. A second command indicative of a rudder control is determined that would cause the effectors to move the body laterally of the direction of travel by an amount equal to the lateral correction. The first and second commands are combined to define a combined command that is applied to the effectors so that the optimum aileron and rudder controls are implemented simultaneously.