Abstract:GDROV (General Detection Remotely Operated Vehicle) is a kind of open frame remotely operated underwater vehicle，which is designed for the inspection of cracks

crevices and other potential problems of the dams. The paper gives a particular introduction of the configuration of GDROV’s motion control technology. Firstly

a least-square technique is utilized to estimate the hydrodynamic coefficients of the vehicle

and a four DOF simulation system is constructed. Secondly

motion control system architecture of GDROV is introduced

which includes hardware and software structure. The hardware based on PC104 BUS

adopts AMD ELAN520 used as the controller’s embedded CPU and all control modules work in VxWorks

which is a powerful real time operating system. Lastly

Information flow of motion system of GDROV

motion control algorithm and dead reckoning algorithm are also explained.