1. Gertler M, Hagen GR. Standard equations of motion for submarine simulation. Technical Report 2510, Naval Ship Research and Development Center; June 1967.
2. Feldman J. DTNSRDC revised standard submarine equations of motion. Technical Report DTNSRDC/SPD-0393-09, David W. Taylor Naval Ship Research and Development Center; June 1979.
3. Boger DA, Davoudzadeh F, Dreyer JJ, McDonald H, Schott CG, Aierke WC, et al. A physics-based means of computing the flow around a maneuvering underwater vehicle. Technical Report TR 97-002, Applied Research Laboratory, Pennsylvania State University; January 1997.
4. Calculation of bottom clearance effects on Walrus submarine hydrodynamics;Bettle;Int Shipbuilding Progr,2010
5. Watt GD, Baker CR, Gerber AG. ANSYS CFX-10 RANS normal force predictions for the Series 58 Model 4621 unappended axisymmetric submarine hull in translation. DRDC Atlantic TM 2006-037; September 2006.