**2.2 Meshing and boundary conditions**

The size function and unstructured meshes were adopted to keep the meshes distributing reasonably and make the meshes generating expediently. The examples of meshing are shown as figure 3, figure 4 and figure 5.

Fig. 3. Stern meshes

Fig. 4. Two-dimension rudder meshes

Fig. 5. Whole meshes of the vehicle

Boundary conditions:

42 Autonomous Underwater Vehicles

number of boundary layer, and the more exact results can be gained by substituting the

The size function and unstructured meshes were adopted to keep the meshes distributing reasonably and make the meshes generating expediently. The examples of meshing are

*t*

μ ρ*C*μ

ε

εmodel.

Here , 0.0845 *C*μ

Fig. 3. Stern meshes

= The RNG *k* −

**2.2 Meshing and boundary conditions** 

shown as figure 3, figure 4 and figure 5.

Fig. 4. Two-dimension rudder meshes

Fig. 5. Whole meshes of the vehicle

differential model into the RNG *k* −

2

*k*

ε<sup>=</sup>

(6)

model was adopted due to the initial smaller Reynola

