System for Attitude Control of Underwater Vehicle and Method for Attitude Control of Underwater Vehicle

A method for attitude control of an underwater vehicle, the method being performed by a system including said underwater vehicle with a thruster and an assist device coupled to said underwater vehicle with a cable and including cable handling equipment and a thruster, the method comprising:

• detecting a distance between a cable attachment of said underwater vehicle and a cable dispenser, serving as a cable attachment, of said assist device;
• referring to a cable length table previously storing the relationship between cable attachment-to-attachment distance and cable length including a predetermined amount of slack to extract a cable length associated with said detected attachment-to-attachment distance;
• and
• controlling operation of said cable handling equipment based on the amount of cable to be wound up or let out associated with said extracted cable length.