10PAPOULIAS F A,AYDIN I. Out of plane solutions and bifurcations of submersibles in free positive buoyant ascent [J]. Journal of ship research, 1994,38(4) :259 - 271.
8Wang Wenwu, Wang Yi, Yin Kailian, Rang Jianmei . Modeling and Simulation of Six DOF Maneuvering for Submarine. Intemional Conference on Navigation, Guidance and Control[ C ]. Harbin; Harbin Engineering University Pr, 2001:428- 432.
