Method for controlling lateral position of an underwater towed body

A method of controlling the lateral position of a towed body in the water, comprising the steps of:

• providing a body in water, said body being equipped with means for effecting aileron, elevator and rudder control thereof;
• pulling said body through the water along a known direction of travel;
• defining a Cartesian frame of reference having one axis along said known direction of travel;
• defining a lateral correction to said known direction of travel in said Cartesian frame of reference, said lateral correction defined by a distance measured perpendicular to said one axis;
• determining a first command indicative of an aileron control that would cause said means for effecting to move said body laterally of said direction of travel by an amount equal to said lateral correction;
• determining a second command indicative of a rudder control that would cause said means for effecting to move said body laterally of said direction of travel by an amount equal to said lateral correction;
• providing a measured depth and a desired depth for said body;
• determining a depth correction based on a difference between said desired depth and said measured depth;
• determining a third command indicative of an elevator control that would cause said means for effecting to move said body vertically to maintain said body at said desired depth;
• combining said first command, said second command and said third command to define a combined command;
• and
• applying said combined command to said means for effecting.