Underwater glider kinematics and dynamics modeling method considering oil bag piston

The invention relates to an underwater glider kinematics and dynamics modeling method considering an oil bag piston, and belongs to the technical field of underwater gliders. Comprising the steps of establishing an inertia matrix, a mass center position, buoyancy, gravity and gravitational torque of static mass; establishing components of fluid viscous damping force and torque under a carrier coordinate system; deriving a component of buoyancy in a carrier coordinate system; deriving the components of the gravity and the medium moment in a carrier coordinate system; establishing momentum and momentum moment of each mass; establishing momentum and momentum moment of the underwater glider model; and finally, obtaining kinematics and kinetic equations of the underwater glider according to the derivation. According to the method, the oil bag is divided into the piston and the cavity for kinetic energy analysis, the influence of the piston and the cavity on the internal force of the underwater glider is considered