The hydrokinetics of the MTAUV is classified anew.The MTAUV has two kinds of work modes which are cruising and hovering.The fluid dynamical mathematics description of the MTAUV is given anew.2.

• 对基于多推进器自主水下航行器的流体动力进行了重新分类，给出了基于多推进器自主水下航行器在巡航工作模式和悬停工作模式两种不同工作状态下流体动力的数学描述。