Dynamics Modeling and Analysis of an Underwater Glider with Dual-Eccentric Attitude Regulating Mechanism Using Dual Quaternions

The underwater glider has difficulty accessing the complex and narrow hadal trench for observation, which is affected by its limited regulation capability of pitch angle (?45°~45°). In this study, a compact attitude regulating mechanism proposed to extend range from ?90°to 90° install it on hadal-class Petrel-XPLUS. Subsequently, dynamics model Petrel-XPLUS established using dual quaternions solve “gimbal lock” problem caused increased range. Within extended range, motion modes are enriched into long-range, virtual mooring, Lagrangian float small-area, current-following observation missions, respectively, analyzed model. Moreover, ballast method was used modify initial equilibrium state constructed glider. Finally, achieved ?90°~90° in water pool experiment completed three consecutive profiles sea trial Challenger Deep, Mariana Trench, with all depths over 10,000 m, maximum depth 10,619 m. methods can also be applied other submersibles facilitate ocean observations.