現今探討潛航器運動模式之研究當中，大多忽略波浪對其所造成之影響，其理由均著眼於潛航器航行於水下時所受到之波浪影響較輕微，也因此即可簡化運算過程並避免觸及繁複之耐海性問題。惟考量潛航器自支援母船施放後，除作業區域位於接近海面之水域必然受到波浪力量之影響外，另其下潛或上浮之過程亦將受到波浪影響，致使潛航器無法完全依照預定路徑航行。
　　基本上潛航器之動態模式為高度非線性之耦合運動，欲準確描述此一系統之動態行為實係相當困難且複雜。本文則參考美海院NPS AUV II之操縱性導數，並利用四階Runge-Kutta數值計算方法建構潛航器之運動模擬電腦程式，再結合耐海性與操縱性之數學模式模擬潛航器在靜水及波浪中之操控。而為了節省程式之運算時間，相關由波浪力量產生之流體動力係數均採用截片理論計算。最後並藉由直行、迴旋、ZIGZAG及自動導航等測試方式，深入分析探討潛航器在靜水及受到波浪力量影響後之運動性能分析。

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