Maneuvering simulation for water-jet propulsion unmanned surface vehicle

According to the characteristic of unmanned surface vehicle(USV) based on water-jet propulsion, four-degree of freedom maneuvering motion equation was established. External forces acting on USV were divided into gravity, buoyancy, inertial hydrodynamic force, viscous hydrodynamic force, dynamic lift force and water-jet force. Momentum theorem was used to establish the model of the water-jet propulsion. With the mathematic model and USV shape model, the physical simulation model of USV is programmed by VC++6.0 in association with Vega. Finally, simulation experiments were done in different initial conditions. Results show that the proposed motion model can predict the maneuverability of USV.