Manoeuvring trials are often performed to assess the path keeping and path changing ability of a marine vehicle. Among them, depth-changing manoeuvres are of particular importance to underwater vehicles. This paper reports some 2D and 3D depth-changing manoeuvring trials that were performed in open-water using a large streamlined Autonomous Underwater Vehicle (AUV) of length 4.5 m. The paper outlines the method by which these tests were conducted and discusses the results and observations made thereof. In addition, numerical simulations of selected manoeuvres were used to validate a hydrodynamic model which is based on the ‘component build-up method’ and some typical results are also presented.

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