Autonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still water line. A wave prediction model is simulated to provide the controller with knowledge of the wave disturbance before it is encountered. The controller allows for depth keeping below the still water line with a standard deviation of 0.04 and 0.65 meters for wave amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0 rad/sec, and the wave prediction improves the depth control on the order of 0.03 meters.
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机译：自主水下航行器（AUV）的深度控制方法通常使用压力传感器来测量深度，这导致AUV跟随表面波的轨迹。通过模拟，为Ocean Explorer AUV设计了一个控制器，其目的是在波浪操作时，AUV在静止水线以下保持恒定深度。通过对传感器建模并使用过滤技术为AUV提供低于静水线的深度来实现此目标。模拟了波浪预测模型，以便在遇到波浪干扰之前为控制器提供有关波浪干扰的知识。对于波幅为0.1-0.25和0.5-2米，波频率为0.35-1.0 rad / sec的控制器，控制器允许将深度保持在静水线以下，且标准偏差分别为0.04和0.65米，并且波预测可以改善深度控制在0.03米左右。
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