An apparatus includes a center component defining a center chamber therein and first and second side components defining first and second chambers therein, respectively. The first and second side components are coupled to opposing ends of the center component with the first and second chambers in fluid communication with the center chamber. The center, first side and second side components are configured to extend substantially across a width of a vehicle. The apparatus further includes first, second and third pressure sensors in communication with the first, second and center chambers, respectively.

An underwater vehicle includes a longitudinal body that defines a longitudinal axis and is rotatable about the longitudinal axis between a forward orientation and a sideways orientation, a wing attached to the longitudinal body that is moveable between a vertically extending wing orientation when the longitudinal body is in the forward orientation and a horizontally extending wing orientation when the longitudinal body is in the sideways orientation, a propulsion system having a front propulsion device and a rear propulsion device that is arranged rearwardly along the longitudinal axis relative to the front propulsion device, and an after-propulsion system arranged at a rear end of the longitudinal body that provides thrust along the longitudinal axis. The secondary propulsion system provides thrust in a perpendicular direction relative to the longitudinal axis.

Disclosed are an improved nozzle for an unmanned underwater vehicle (UUV), and a method for operating the same. The nozzle includes a first rigid member operatively coupled to a UUV steering mechanism. The nozzle also has a second rigid member, coupled to the first rigid member by a flexible bellows according to a configurable operating angle. The nozzle does not extend beyond a bounding surface when stored but does when deployed. Water traversing the first rigid member and contacting the second rigid member produces a reactive force according to the configurable operating angle. Simultaneous and independent control of the volume of fluid traversing several such nozzles in the UUV, and their respective orientations and operating angles, permits automatic station-keeping or navigation according to another guidance objective.

Disclosed are an improved nozzle for an unmanned underwater vehicle (UUV), and a method for operating the same. The nozzle includes a first rigid member operatively coupled to a UUV steering mechanism. The nozzle also has a second rigid member, coupled to the first rigid member by a flexible bellows according to a configurable operating angle. The nozzle does not extend beyond a bounding surface when stored but does when deployed. Water traversing the first rigid member and contacting the second rigid member produces a reactive force according to the configurable operating angle. Simultaneous and independent control of the volume of fluid traversing several such nozzles in the UUV, and their respective orientations and operating angles, permits automatic station-keeping or navigation according to another guidance objective.

An underwater vehicle includes a longitudinal body that defines a longitudinal axis and is rotatable about the longitudinal axis between a forward orientation and a sideways orientation, a wing attached to the longitudinal body that is moveable between a vertically extending wing orientation when the longitudinal body is in the forward orientation and a horizontally extending wing orientation when the longitudinal body is in the sideways orientation, a propulsion system having a front propulsion device and a rear propulsion device that is arranged rearwardly along the longitudinal axis relative to the front propulsion device, and an after-propulsion system arranged at a rear end of the longitudinal body that provides thrust along the longitudinal axis. The secondary propulsion system provides thrust in a perpendicular direction relative to the longitudinal axis.

The invention relates to a payload frame for deploying a payload underwater. The payload frame includes at least three lead screws, each lead screw connected near a top end of the lead screw to the payload by a corresponding spherical bearing; at least three motors, each motor connected to a bottom end of one of the lead screws, the motor to rotate the lead screw through the corresponding spherical bearing; at least three feet, each foot attached to one of the motors, the feet to support and secure the payload frame on a water body bed; an accelerometer attached to the payload, the accelerometer to measure gravity vectors of the payload; and a microcontroller connected to the accelerometer and the motors. The microcontroller to receive the gravity vectors from the accelerometer and control each of the motors based on the gravity vectors to position the payload in a target orientation.

The invention relates to a payload frame for deploying a payload underwater. The payload frame includes at least three lead screws, each lead screw connected near a top end of the lead screw to the payload by a corresponding spherical bearing; at least three motors, each motor connected to a bottom end of one of the lead screws, the motor to rotate the lead screw through the corresponding spherical bearing; at least three feet, each foot attached to one of the motors, the feet to support and secure the payload frame on a water body bed; an accelerometer attached to the payload, the accelerometer to measure gravity vectors of the payload; and a microcontroller connected to the accelerometer and the motors. The microcontroller to receive the gravity vectors from the accelerometer and control each of the motors based on the gravity vectors to position the payload in a target orientation.

Provided is a maneuvering device including: an input device (101) configured to detect an input operation for instructing movement of a mobile body to generate input information, a calculator (11) configured to change the input information so as to acquire an effect equivalent to a case in which a dead zone is set to the input operation, to thereby generate changed input information; and a controller (103) configured to control the movement of the mobile body (100a) based on the changed input information. The calculator is configured to change a range of the dead zone in accordance with a detection parameter detected in relation to the movement of the mobile body.

Provided is a maneuvering device including: an input device (101) configured to detect an input operation for instructing movement of a mobile body to generate input information, a calculator (11) configured to change the input information so as to acquire an effect equivalent to a case in which a dead zone is set to the input operation, to thereby generate changed input information; and a controller (103) configured to control the movement of the mobile body (100a) based on the changed input information. The calculator is configured to change a range of the dead zone in accordance with a detection parameter detected in relation to the movement of the mobile body.

The invention relates to a method for determining a water current velocity profile in a water column by registration of a deviation between a first position and a second position of an underwater vehicle travelling in the water column. A batch of underwater vehicles is deployed from a surface vessel into the water. The vehicle(s) steers to the first position, which for the first batch is a predefined estimated position (PEP). The vehicle is by first means recording the second position, which is the actual position (AP). The difference ?P between the predefined estimated position PEP and the actual position is registered and based on the difference a deviation data set is calculated. An updated current profile or stack of horizontal water current velocities UV is determined.