Identification of Hydrodynamic Derivatives from AUV "Pirajuba" Using Extended Kalman Filter

The paper shows a practical application of the use of Extended Kalman Filter (EKF) in determining the hydrodynamic derivatives of an Autonomous Underwater Vehicle for a (AUV). The work is worth the experimental results of the underwater vehicle "Pirajuba" developed by LVNT (Not Manned Vehicle Laboratory) of Polytechnic School from University of São Paulo (USP). Discuss in practical terms the convergence criteria of the Kalman filter, and process validation of the mathematical model to calculate the hydrodynamic derivatives.