Control system for submersibles to minimize bottom sediment disturbances

Claim 1

A propulsion system for an underwater vehicle designed to maneuver in close proximity to the bottom of a body of water and having an enclosed hull with a center of buoyancy located approximately amidship of said hull comprising in combination: a first pair of thrust producing means mounted on said hull in the horizontal plane of the vehicles and forward of said center of buoyancy, one on either side thereof, for producing a propulsion thrust within the water surrounding said vehicle hull; a second pair of thrust producing means mounted on said hull in the horizontal plate of the vehicles and aft of said center of buoyancy, one on either side thereof, for producing a propulsive force within the water surrounding said vehicle hull; control means effectively connected to said hull and cooperatively associated with each thrust producing means of said first and second pair of thrust producing means for selectively directing the propulsive thrust developed thereby through angles away from the bottom of said body of water, and including; control means to direct the thrust from the thrust producing means to only angles within the upper 180* relative to said horizontal plane of the vehicle; control means to further restrict the degree of freedom of angle selection in response to the attitude of the vehicle; and additional means to further control the degree of freedom of angle selection in response to the height of the vehicle off the bottom effectively connected to override the attitude control means, whereby selective operation of the first pair and the second pair of thrust producing means and said control means maneuvers the uhderwater vehicle through any desired degree of freedom in close proximity to the bottom of said body of water without disturbing sediment, particulate matter, and marine life thereon.