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.
