Review on the influence of underwater vehicles motion and load under current

Underwater vehicles (UV) not only play an important role in civilian fields, but also have been widely used in the military fields, and have broad application prospects. However, it is vulnerable to the influence of ocean current environment during underwater navigation, which makes its hydrodynamic parameters uncertain, which leads to difficulties in motion attitude control, the deviation of navigation, the increase of navigation cost, and even affects the completion of underwater combat tasks and the occurrence of collision accidents, endangering navigation safety. On the basis of combing the current status of hydrodynamic research of different underwater vehicles under ocean currents, the control methods of underwater vehicles to deal with ocean current interference, and we propose some perspectives about the development direction of underwater vehicles under ocean currents, so as to provide some reference for the study of influence mechanism of complex ocean currents on the hydrodynamic parameters of underwater vehicles and the design of controllers.