Double-redundancy motion control system for deep-water AUV

The invention, which belongs to the field of deep-water underwater autonomous vehicles, provides a double-redundancy motion control system for a deep-water AUV. On the basis of a double redundancy structure, the control system comprises two motion control units in stacked parallel connection; and the two motion control units have the same structures and each motion control unit has an aviation plugging interface. The motion control system receives remote control commands sent out by a main control system and a deck unit by means of radio or acoustic communication and the main control system command is performed in priority. When a fault occurs at the main control unit, a remote control command from the deck unit is waited; and when no command is received within set time, emergency measuresare taken automatically. The two redundancies of the double-redundancy system are equal in terms of control authority; and a third-party judgment way is employed. According to the invention, the safecourse reversal of the AU