The long-distance autonomous underwater vehicle (AUV) will maneuver at very low speed.The appropriate equations governing low speed and high angle of attack motion for the AUV were built.

• 摘要建立了适合于远程AUV大攻角微速条件下运动仿真的六自由度数学模型，对AUV在定点旋转、垂直上浮下潜、水平左右横移等形式的微速运动下的操纵性进行了仿真研究。