According to the translation in three directions, pitch, sway and roll motion of underwater vehicles, and dividing the force of underwater vehicles into three independent parts, such as hull hydrodynamic force, oar force and rudder hydrodynamic force, the motion equations of underwater vehicles are deduced. Then the nonlinear kinematics model of underwater vehicles with six DOF is established in Matlab/Simulink, and the simulation analysis of horizontal rotation and spiral floating is carried out. The results show that the model can accurately reflect the characteristics of underwater vehicles motion, and can realize various motion modes of different heading control modes, which lays a foundation for the research of underwater vehicles trajectory prediction and trajectory control.
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