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

摘要

The invention relates to: a system for navigating a self-navigating submersible when entering a holding station under the surface of the water, comprising means for determining an actual movement vector of the self-navigating submersible in relation to the target movement vector, describing the optimum entry direction into the holding station; and a calculation unit. The calculation unit functions to determine the deviation between the actual movement vector and the target movement vector, in order to determine control signals from the deviation and to thereby control the self-navigating submersible when entering.