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2. How to achieve depth control and attitude control in AUV control system? In the AUV control system, depth control achieves stable depth operation through sensor detection, control algorithm calculation, and actuator adjustment; Attitude control ensures correct movement direction and angle through attitude sensor monitoring, control algorithm processing, and execution mechanism operation. Depth control implementation method sensor application pressure sensor: real-time measurement of underwater pressure, using the proportional relationship between water pressure and depth, converting the pressure value into the current depth value through a conversion formula, providing basic data for depth control. Sonar system: It obtains the distance between the AUV and the seabed, which is used to calibrate the depth readings obtained by pressure sensors, improve the accuracy of depth detection, especially in complex seabed terrain, and can more accurately determine the relative depth position of the AUV to the seabed. DVL (Doppler Velocity Log): In tasks such as oil and gas pipeline inspections, it can measure the velocity and altitude of the AUV relative to the seabed, assist in depth control, and enable the AUV to more accurately maintain near the target depth. Control algorithm implementation PID controller: Based on the difference between the set depth and the actual depth, the control signal is calculated according to the proportional, integral, and derivative operation rules. The proportional term makes the control quantity proportional to the error and can quickly respond to changes in error; The integral term is used to eliminate steady-state errors; Differential terms can predict the trend of error changes and make adjustments in advance. Model Predictive Control (MPC): Considering nonlinear and time-varying factors such as water density and fluid dynamics effects, a dynamic model of AUV is established to predict the depth changes of AUV in the future. Based on this, the control strategy is optimized to deal with depth control problems in complex environments, such as encountering complex ocean currents during deep-sea shipwreck archaeological sites or oil and gas pipeline inspections. Adaptive control: In oil and gas pipeline inspection tasks, faced with disturbances such as ocean currents and water temperature changes, adaptive control can automatically adjust control parameters to adapt to environmental changes and maintain the stability and accuracy of depth control. Adjustment of actuator operation thruster: Adjust the speed of the thruster according to the control signal, adjust the lifting motion of the AUV by changing the propulsion force, and thus control the depth. For example, increasing the thruster speed can cause the AUV to rise, while decreasing the speed can cause the AUV to fall. Buoyancy system change: Change the configuration of the counterweight system or alter the state of the buoyancy system to adjust the buoyancy of the AUV. Increasing buoyancy can cause the AUV to rise, while decreasing buoyancy can cause the AUV to sink, thereby achieving accurate control over depth. Attitude control implementation method: Sensor application of gyroscope and accelerometer: Real time monitoring of AUVs attitude and angular velocity, accurate perception of AUVs rotational motion and tilt state in space, providing key information for attitude control. Magnetometer: detects the orientation of the AUV and i

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