SYSTEM AND METHOD FOR NAVIGATING A SELF-NAVIGATING SUBMERSIBLE WHEN ENTERING A HOLDING STATION

摘要

A system for navigation of an autonomously navigating submersible body during entry into a docking station below the water surface includes a determiner for determining an actual motion vector of the autonomously navigation submersible body in relation to the set motion vector describing the optimum entry direction into the docking station and a calculating unit. The calculating unit serves to determine the deviation between the actual motion vector and the set motion vector to determine control vectors based on the deviation and to thereby control the autonomously navigating submersible body during entry.