Orientation control method of underwater vehicle in hovering state

The invention relates to the technical field of non-electrical variable control or regulation systems, in particular to a control method for orientation of an underwater vehicle in a hovering state, which comprises the following steps of: establishing a linear motion equation of a hovering horizontal plane of the underwater vehicle; establishing a state observer model for the linear motion equation of the hovering horizontal plane of the underwater vehicle, and extracting a motion state signal of the underwater vehicle according to the state observer model; the method comprises the following steps: establishing a course controller model in a hovering state of an underwater vehicle by considering marine environment interference; and discretizing a continuous control instruction of a course controller in a hovering state of the underwater vehicle, and controlling a motor of an execution mechanism to act according to a discretization result so as to control the course of the underwater vehicle. According to the