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Figure 4. Display and control software interface.

Figure 5. ROV thruster layout.

four horizontal thrusters (the two front parts are arranged at an angle of 30 with the center line and the two
◦
rear parts are arranged at an angle of 30 with the center line). With the thruster arrangement, the search and
◦
rescue ROV can mainly achieve five-degree-of-freedom movement (without pitch motion control). The ROV
controller inside the control cabin collects sensor information, such as compass, attitude, depth, and height,
in real time, and controls the rotation speed and direction of six thrusters in real time through the attitude
balance algorithm, to realize the smooth movement of ROV diving, forward and backward motion, moving
horizontally, turning, and depth orientation.

The ROV controller collects the information of peripherals (such as depth, height, attitude, compass, camera,
and lighting) in real time, performs adaptive control according to the working mode, and transmits the pro-
cessed relevant information to the PC-104. The PC-104 system adopts the UDP protocol and uses the optical
transceiver to transmit the information in real time through the photoelectric composite cable. The ROV con-
troller is connected to the acoustic detection system through a watertight connector. The acoustic detection
system can control the working mode of the ROV (such as sink silently or fixed depth hover), cut off the power
supply of the ROV, reduce the self-noise of the whole ROV system, and improve the measurement accuracy of