A high accuracy attitude system for a tailless underwater glider

The Guidance and Control system is a critical part of the design of a drone. This paper explains the study of a high accuracy attitude system for the SQUID TUG, a Tailless Underwater Glider drone. As the vehicle does not have movable surfaces, the entire manoeuvring system is geared to the buoyancy system and the centre of gravity displacement. We will examine the control system for a tailless AUV (Autonomous Underwater Vehicle) without any type of movable control surfaces embedded in the hydrodynamic flow whose actuators may require "waterways" through the hull.