A framework for obtaining steady-state maneuvering characteristics of underwater vehicles using sea-trial data

This paper reports the development and experimental evaluation of a simple and intuitive framework for obtaining steady-state maneuvering characteristics of a wide class of underwater vehicles. The possible use of steady-state characteristics includes navigation, fault-detection and vehicle design evaluation. The presented algorithms allow unknown currents to be included in the identification loop. Measured or estimated vehicle position, velocity and attitude are required inputs. The effectiveness of the algorithms is illustrated using experimental data collected by the HUGIN 4500 AUV. The identification results are found to be consistent and in good agreement with a physical interpretation.