Mass of Underwater Vehicle (kg) Moment of Inertia (kg-m 2 ) X Position in Earth-Fixed Frame (m) Y Position in Earth-Fixed Frame (m) Yaw Angle in Earth-Fixed Frame (rad) Surge Velocity in Body-Fixed Frame (m/s) Sway Velocity in Body-Fixed Frame (m/s) Overall Speed (m/s) Yaw Rate in Body-Fixed Frame (rad/s) Drift Angle (rad) Rudder Deflection Angle (rad) Surge Force in Body-Fixed Frame (N) Sway Force in Body-Fixed Frame (N) Yaw Moment in Body-Fixed Frame (N-m) Length of Underwater Vehicle Body (m) X coordinate of Center of Gravity (m) Y coordinate of Center of Gravity (m) 1. Introduction Many kinds of underwater vehicles have been developed for military, commercial, and scientific purposes, such as submarines, torpedoes, autonomous underwater vehicles (AUVs), remotely operated vehicles (ROVs), underwater gliders, etc. Underwater vehicles need to have various types of performance depending on their operating concept and tasks. For example, maneuverability, course-keeping ability, turning ability, and course-changing ability are the most fundamental elements, so their prediction is very important work in the design process of underwater vehicles. The process of predicting maneuverability consists of constructing equations of motion, obtaining hydrodynamic derivatives, and performing flight simulation. Most equations of motion of an underwater vehicle are based on the submarine dynamic model by Gertler and Hagen (1967). Feldman (1979) proposed a modified dynamic model to describe extreme turning and a high angle of attack accurately based on the model of Gertler and Hagen. Healey and Lienard (1993) proposed a dynamic model for a large AUV for low-speed flight. Many another researchers have also carried out research on equations of motion (Bae et al., 2009;Park et al., 2015).