**2.3 Results verification**

To verify the precision of the calculation, we computed the drag coefficients of Slocum underwater glider [17] at different angle of attack as shown in table 2. The table 3 shows the verification of numerical simulation results of drag of AUV shell of Tianjin University. The error percentage of our calculation is less than 9.35%.


Table 2. Verification of numerical simulation results of *C*<sup>D</sup>


Table 3. Verification of numerical simulation results of drag of AUV shell
